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<div><div><div><div><p>This paper introduces an integrated real-time intraoperative surgical guidance system, in which an endoscope camera of da Vinci surgical robot and a transrectal ultrasound (TRUS) transducer are co-registered using photoacoustic markers that are detected in both fluorescence (FL) and photoacoustic (PA) imaging. The co-registered system enables the TRUS transducer to track the laser spot illuminated by a pulsed-laser-diode attached to the surgical instrument, providing bothdoi:10.36227/techrxiv.19295948 fatcat:pegqg2k5pnf53odqmolc6pblpy