TY - GEN
T1 - Image-guided ex-vivo targeting accuracy using a laparoscopic tissue localization system
AU - Bieszczad, Jerry
AU - Friets, Eric
AU - Knaus, Darin
AU - Rauth, Thomas
AU - Herline, Alan
AU - Miga, Michael
AU - Galloway, Robert
AU - Kynor, David
PY - 2007
Y1 - 2007
N2 - In image-guided surgery, discrete fiducials are used to determine a spatial registration between the location of surgical tools in the operating theater and the location of targeted subsurface lesions and critical anatomic features depicted in preoperative tomographic image data. However, the lack of readily localized anatomic landmarks has greatly hindered the use of image-guided surgery in minimally invasive abdominal procedures. To address these needs, we have previously described a laser-based system for localization of internal surface anatomy using conventional laparoscopes. During a procedure, this system generates a digitized, three-dimensional representation of visible anatomic surfaces in the abdominal cavity. This paper presents the results of an experiment utilizing an ex-vivo bovine liver to assess subsurface targeting accuracy achieved using our system. During the experiment, several radiopaque targets were inserted into the liver parenchyma. The location of each target was recorded using an optically-tracked insertion probe. The liver surface was digitized using our system, and registered with the liver surface extracted from post-procedure CT images. This surface-based registration was then used to transform the position of the inserted targets into the CT image volume. The target registration error (TRE) achieved using our surface-based registration (given a suitable registration algorithm initialization) was 2.4 mm ± 1.0 mm. A comparable TRE (2.6 mm ± 1.7 mm) was obtained using a registration based on traditional fiducial markers placed on the surface of the same liver. These results indicate the potential of fiducial-free, surface-to-surface registration for image-guided lesion targeting in minimally invasive abdominal surgery.
AB - In image-guided surgery, discrete fiducials are used to determine a spatial registration between the location of surgical tools in the operating theater and the location of targeted subsurface lesions and critical anatomic features depicted in preoperative tomographic image data. However, the lack of readily localized anatomic landmarks has greatly hindered the use of image-guided surgery in minimally invasive abdominal procedures. To address these needs, we have previously described a laser-based system for localization of internal surface anatomy using conventional laparoscopes. During a procedure, this system generates a digitized, three-dimensional representation of visible anatomic surfaces in the abdominal cavity. This paper presents the results of an experiment utilizing an ex-vivo bovine liver to assess subsurface targeting accuracy achieved using our system. During the experiment, several radiopaque targets were inserted into the liver parenchyma. The location of each target was recorded using an optically-tracked insertion probe. The liver surface was digitized using our system, and registered with the liver surface extracted from post-procedure CT images. This surface-based registration was then used to transform the position of the inserted targets into the CT image volume. The target registration error (TRE) achieved using our surface-based registration (given a suitable registration algorithm initialization) was 2.4 mm ± 1.0 mm. A comparable TRE (2.6 mm ± 1.7 mm) was obtained using a registration based on traditional fiducial markers placed on the surface of the same liver. These results indicate the potential of fiducial-free, surface-to-surface registration for image-guided lesion targeting in minimally invasive abdominal surgery.
KW - Abdominal procedures
KW - Image-guided therapy
KW - Localization
KW - Minimally invasive surgery
KW - Registration
UR - http://www.scopus.com/inward/record.url?scp=35148900090&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=35148900090&partnerID=8YFLogxK
U2 - 10.1117/12.713884
DO - 10.1117/12.713884
M3 - Conference contribution
AN - SCOPUS:35148900090
SN - 0819466271
SN - 9780819466273
T3 - Progress in Biomedical Optics and Imaging - Proceedings of SPIE
BT - Medical Imaging 2007
T2 - Medical Imaging 2007: Visualization and Image-Guided Procedures
Y2 - 18 February 2007 through 20 February 2007
ER -