TY - GEN
T1 - Registration of physical space to laparoscopic image space for use in minimally invasive hepatic surgery
AU - Stefansic, J. D.
AU - Herline, A. J.
AU - Shyr, Y.
AU - Chapman, W. C.
AU - Fitzpatrick, J. M.
AU - Dawant, B. M.
AU - Galloway, R. L.
PY - 2002/1/1
Y1 - 2002/1/1
N2 - While laparoscopes are used for numerous minimally invasive (MI) procedures, MI liver resection and ablative surgery is infrequently performed. The paucity of cases is due to the restriction of the field of view by the laparoscope and the difficulty in determining tumor location and margins under video guidance. By merging MI surgery with interactive, image-guided surgery (ITGS), we hope to overcome localization difficulties present in laparoscopic liver procedures. One key component of any DGS system is the development of accurate registration techniques to map image space to physical or patient space. This manuscript focuses on the accuracy and analysis of the direct linear transformation (DLT) method to register physical space with laparoscopic image space on both distorted and distortion-corrected video images. Experiments were conducted on a liver-sized plastic phantom affixed with 20 markers at various depths. After localizing the points in both physical and laparoscopic image space, registration accuracy was assessed for different combinations and numbers of control points (n) to determine the quantity necessary to develop a robust registration matrix. For n = 11, average target registration error (TRE) was 0.70 ± 0.20 mm. We also studied the effects of distortion correction on registration accuracy. For the particular distortion correction method and laparoscope used in our experiments, there was no statistical significance between physical to image registration error for distorted and corrected images. In cases where a minimum number of control points (n = 6) are acquired, the DLT is often not stable and the mathematical process can lead to high TRE values. Mathematical filters developed through the analysis of the DLT were used to prospectively eliminate outlier cases where the TRE was high. For n = 6, prefilter average TRE was 17.4 ± 153 mm for all trials; when the filters were applied, average TRE decreased to 1.64 ± 1.10 mm for the remaining trials.
AB - While laparoscopes are used for numerous minimally invasive (MI) procedures, MI liver resection and ablative surgery is infrequently performed. The paucity of cases is due to the restriction of the field of view by the laparoscope and the difficulty in determining tumor location and margins under video guidance. By merging MI surgery with interactive, image-guided surgery (ITGS), we hope to overcome localization difficulties present in laparoscopic liver procedures. One key component of any DGS system is the development of accurate registration techniques to map image space to physical or patient space. This manuscript focuses on the accuracy and analysis of the direct linear transformation (DLT) method to register physical space with laparoscopic image space on both distorted and distortion-corrected video images. Experiments were conducted on a liver-sized plastic phantom affixed with 20 markers at various depths. After localizing the points in both physical and laparoscopic image space, registration accuracy was assessed for different combinations and numbers of control points (n) to determine the quantity necessary to develop a robust registration matrix. For n = 11, average target registration error (TRE) was 0.70 ± 0.20 mm. We also studied the effects of distortion correction on registration accuracy. For the particular distortion correction method and laparoscope used in our experiments, there was no statistical significance between physical to image registration error for distorted and corrected images. In cases where a minimum number of control points (n = 6) are acquired, the DLT is often not stable and the mathematical process can lead to high TRE values. Mathematical filters developed through the analysis of the DLT were used to prospectively eliminate outlier cases where the TRE was high. For n = 6, prefilter average TRE was 17.4 ± 153 mm for all trials; when the filters were applied, average TRE decreased to 1.64 ± 1.10 mm for the remaining trials.
KW - Image distortion correction
KW - image registration
KW - image-guided surgery
KW - minimally invasive surgery
UR - http://www.scopus.com/inward/record.url?scp=84963491229&partnerID=8YFLogxK
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U2 - 10.1109/SSBI.2002.1233999
DO - 10.1109/SSBI.2002.1233999
M3 - Conference contribution
AN - SCOPUS:84963491229
T3 - Biomedical Imaging V - Proceedings of the 5th IEEE EMBS International Summer School on Biomedical Imaging, SSBI 2002
BT - Biomedical Imaging V - Proceedings of the 5th IEEE EMBS International Summer School on Biomedical Imaging, SSBI 2002
A2 - Roux, Christian
A2 - Coatrieux, Jean-Louis
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE EMBS International Summer School on Biomedical Imaging, SSBI 2002
Y2 - 15 June 2002 through 23 June 2002
ER -