PurposeTo facilitate localization and resection of small lung nodules, we developed a prospective clinical trial (ClinicalTrials.gov number NCT01847209) for a novel surgical approach which combines placement of fiducials using intra‐operative C‐arm computed tomography (CT) guidance with standard thoracoscopic resection technique using image‐guided video‐assisted thoracoscopic surgery (iVATS).MethodsPretrial training was performed in a porcine model using C‐arm CT and needle guidance software. Methodology and workflow for iVATS was developed, and a multi‐modality team was trained. A prospective phase I‐II clinical trial was initiated with the goal of recruiting eligible patients with small peripheral pulmonary nodules. Intra‐operative C‐arm CT scan was utilized for guidance of percutaneous marking with two T‐bars (Kimberly‐Clark, Roswell, GA) followed by VATS resection of the tumor.ResultsTwenty‐five patients were enrolled; 23 underwent iVATS, one withdrew, and one lesion resolved. Size of lesions were: 0.6–1.8 cm, mean = 1.3 ± 0.38 cm.. All 23 patients underwent complete resection of their lesions. CT imaging of the resected specimens confirmed the removal of the T‐bars and the nodule. Average and total procedure radiation dose was in the acceptable low range (median = 1501 μGy*m2, range 665–16,326). There were no deaths, and all patients were discharged from the hospital (median length of stay = 4 days, range 2–12). Three patients had postoperative complications: one prolonged air‐leak, one pneumonia, and one ileus.ConclusionsA successful and safe step‐wise process has been established for iVATS, combining intra‐operative C‐arm CT scanning and thoracoscopic surgery in a hybrid operating room. J. Surg. Oncol. 2015 111:18–25. © 2015 The Authors. Journal of Surgical Oncology Published by Wiley Periodicals, Inc.

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The 10 mm incisions used in minimally invasive cancer surgery prevent the direct palpation of internal organs, making intraoperative tumor localization difficult. A tactile sensing instrument (TSI), which uses a commercially available sensor to measure distributed pressure profiles along the contacting surface, has been developed to facilitate remote tissue palpation. The objective of this research is to assess the feasibility of using the TSI under robotic control to reliably locate underlying tumors while reducing collateral tissue trauma. The performance of humans and a robot using the TSI to locate tumor phantoms embedded into ex vivo bovine livers is compared. An augmented hybrid impedance control scheme has been implemented on a Mitsubishi PA10-7C to perform the force/position control used in the trials. The results show that using the TSI under robotic control realizes an average 35% decrease in the maximum forces applied and a 50% increase in tumor detection accuracy when compared to manual manipulation of the same instrument. This demonstrates that the detection of tumors using tactile sensing is highly dependent on how consistently the forces on the tactile sensing area are applied, and that robotic assistance can be of great benefit when trying to localize tumors in minimally invasive surgery.

This article reviews methods for image-guided diagnosis and therapy that increase precision in detection, characterization, and localization of many forms of cancer to achieve optimal target definition and complete resection or ablation. We present a new model of translational clinical image guided therapy research and describe the Advanced Multimodality Image Guided Operating (AMIGO) suite. AMIGO was conceived and designed to allow for the full integration of imaging in cancer diagnosis and treatment. We draw examples from over 500 cases performed on brain, neck, spine, thorax (breast, lung), and pelvis (prostate and gynecologic areas) and describe how they address some of the many challenges of treating brain, prostate and lung tumors.