Intra-operative Lymph Nodes localization through Augmented Reality
LynAR aims to develop a real-time, markerless augmented-reality guidance system to assist pelvic lymph node dissection during radical prostatectomy. The core idea is to automatically align lymph node regions at risk and nearby critical structures with the live surgical video, without relying on physical fiducials, and to remain robust to tissue deformation and inter-patient anatomical variability. By providing an intuitive, continuously updated overlay, the system aims to standardize and improve surgical navigation, reducing the likelihood of missed metastatic nodes.
This project is funded by Intuitive Clinical Grant 2025
PEOPLE
PARTNER
Politecnico di Milano (Milan, IT)
IEO: Istituto Europeo di Oncologia (Milan, IT)
PUBLICATIONS
Cruciani L, Magnani M, Martuscelli S, Candela A, Fontana M, Musi G, De Momi E, Point Cloud Stitching for Improved Registration in Augmented-Reality-Guided Robotic Lymphadenectomy, Hamlyn simposium, 2026
Cruciani, L, Pollini, E., Fontana, M., Musi G., & De Momi E. (2025). A Markerless Augmented Reality platform for cognitive support in robotic lymphadenectomy. SiUro Conference, 2025. Anticancer Research
Li, Y., Cruciani, L., Mistretta, F.A., Luzzago, S., Ferrigno, G., Musi, G. and De Momi, E., 2026. STF: A Unified Framework for Joint Pixel-Level Segmentation and Tracking of Tissues in Endoscopic Surgery. IEEE Transactions on Biomedical Engineering.
Chen, Z., Fan, K., Cruciani, L., Fontana, M., Muraglia, L., Ceci, F., Travaini, L., Ferrigno, G. and De Momi, E., 2024, May. Toward a framework integrating augmented reality and virtual fixtures for safer robot-assisted lymphadenectomy. In 2024 IEEE International Conference on Robotics and Automation (ICRA) (pp. 3602-3608). IEEE.
Chen, Ziyang, Laura Cruciani, Ke Fan, Matteo Fontana, Elena Lievore, Ottavio De Cobelli, Gennaro Musi, Giancarlo Ferrigno, and Elena De Momi. Towards safer robot-assisted surgery: A markerless augmented reality framework. Neural Networks 178 (2024): 106469.
Cruciani, L., Chen, Z., Fontana, M., Musi, G., De Cobelli, O., & De Momi, E. (2023). 3D Reconstruction and Segmentation in Laparoscopic Robotic Surgery. In 2023 IRIM.