# Real-Time Intraoperative Surgical Guidance System in the da Vinci Surgical Robot Based on Transrectal Ultrasound/Photoacoustic Imaging With Photoacoustic Markers: An <i>Ex Vivo</i> Demonstration

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 16× · AI/ML

**Wikidata**: [openalex:W4285743256](https://www.wikidata.org/wiki/openalex:W4285743256)  
**Source**: https://4ort.xyz/entity/real-time-intraoperative-surgical-guidance-system-in-the-da-vinci-surgical-robot-based-on-transrectal-ultrasound-photoac