A novel craniotomy simulation system for evaluation of stereo-pair reconstruction fidelity and tracking

Yang, Xiaochen; Clements, Logan W.; Conley, Rebekah H.; Thompson, Reid C.; Dawant, Benoît M.; Miga, Michael I.

doi:10.1117/12.2217301

Cited by 5 publications

(5 citation statements)

References 17 publications

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“…Conventional tracking can be used for surgical instruments and the deforming breast surface can be more readily monitored with a stereo camera. Stereo camera point localization has been previously shown to be reliable 26 , and we extend this work to hypothesize that a computer vision tracking algorithm can be applied to automatically and continuously monitor the breast surface. The surface information provided throughout surgery would allow for ongoing non-rigid registration with a computational model.…”

Section: Introductionmentioning

confidence: 82%

“…Example output of the Bumblebee can be seen in Figure 2, with superimposed arrows to describe locations where forces were applied. Stereo camera images from two grasshopper cameras were collected with a custom-built image capture software 26 . The coupled devices were centered over the phantom and each Grasshopper was tilted until the right camera’s field of view was about 1 cm to the right of the left field of view, and both views were approximately centered on the deformation apparatus.…”

Section: Methodsmentioning

confidence: 99%

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A system for automatic monitoring of surgical instruments and dynamic, non-rigid surface deformations in breast cancer surgery

Richey

Luo

Goodale

et al. 2018

Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling

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When negative tumor margins are achieved at the time of resection, breast conserving therapy (lumpectomy followed with radiation therapy) offers patients improved cosmetic outcomes and quality of life with equivalent survival outcomes to mastectomy. However, high reoperation rates ranging 10–59% continue to challenge adoption and suggest that improved intraoperative tumor localization is a pressing need. We propose to couple an optical tracker and stereo camera system for automated monitoring of surgical instruments and non-rigid breast surface deformations. A bracket was designed to rigidly pair an optical tracker with a stereo camera, optimizing overlap volume. Utilizing both devices allowed for precise instrument tracking of multiple objects with reliable, workflow friendly tracking of dynamic breast movements. Computer vision techniques were employed to automatically track fiducials, requiring one-time initialization with bounding boxes in stereo camera images. Point based rigid registration was performed between fiducial locations triangulated from stereo camera images and fiducial locations recorded with an optically tracked stylus. We measured fiducial registration error (FRE) and target registration error (TRE) with two different stereo camera devices using a phantom breast with five fiducials. Average FREs of 2.7 ± 0.4 mm and 2.4 ± 0.6 mm with each stereo-camera device demonstrate considerable promise for this approach in monitoring the surgical field. Automated tracking was shown to reduce error when compared to manually selected fiducial locations in stereo camera image-based localization. The proposed instrumentation framework demonstrated potential for the continuous measurement of surgical instruments in relation to the dynamic deformations of a breast during lumpectomy.

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Section: Introductionmentioning

confidence: 82%

Section: Methodsmentioning

confidence: 99%

A system for automatic monitoring of surgical instruments and dynamic, non-rigid surface deformations in breast cancer surgery

Richey

Luo

Goodale

et al. 2018

Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling

Self Cite

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“…In our previous work, a user-friendly graphical user interface (GUI) was proposed to facilitate the acquisition and was designed to be compatible with all USB, Point Grey Research, or other IEEE-1394b (FireWire) digital cameras. 9,10 Our craniotomy simulation device is designed to permit in-plane stretching as well as out-of-plane deformation of a membrane to simulate realistic displacements occurring during the surgery [see Fig. 1(c)].…”

Section: Data Acquisitionmentioning

confidence: 99%

“…This work used two identical Grasshopper digital cameras produced by Point Grey Research, Inc. (Richmond, British Columbia, Canada) and served as an initial testing prototype for our mock cortical surface environment. 9 Here, we have extended those approaches to a surgical microscope that is used clinically at our institution. We have developed an interactive environment that permits acquisition of stereo-image capture from the microscope, calibration of the cameras, and adjustment of parameters used for 3-D point cloud reconstruction.…”

Section: Introductionmentioning

confidence: 99%

Stereovision-based integrated system for point cloud reconstruction and simulated brain shift validation

et al. 2017

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Intraoperative soft tissue deformation, referred to as brain shift, compromises the application of current image-guided surgery navigation systems in neurosurgery. A computational model driven by sparse data has been proposed as a cost-effective method to compensate for cortical surface and volumetric displacements. We present a mock environment developed to acquire stereoimages from a tracked operating microscope and to reconstruct three-dimensional point clouds from these images. A reconstruction error of 1 mm is estimated by using a phantom with a known geometry and independently measured deformation extent. The microscope is tracked via an attached tracking rigid body that facilitates the recording of the position of the microscope via a commercial optical tracking system as it moves during the procedure. Point clouds, reconstructed under different microscope positions, are registered into the same space to compute the feature displacements. Using our mock craniotomy device, realistic cortical deformations are generated. When comparing our tracked microscope stereo-pair measure of mock vessel displacements to that of the measurement determined by the independent optically tracked stylus marking, the displacement error was [Formula: see text] on average. These results demonstrate the practicality of using tracked stereoscopic microscope as an alternative to laser range scanners to collect sufficient intraoperative information for brain shift correction.

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“…Recently, Yang et al [226] developed a craniotomy simulation system for evaluation of stereo-pair reconstruction fidelity and tracking.…”

Section: Image-guided Navigation Systems For Brain Tumor Surgery Chapmentioning

confidence: 99%

Guidance and Visualization for Brain Tumor Surgery

Marreiros¹,

Miguel²

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Image guidance and visualization play an important role in modern surgery to help surgeons perform their surgical procedures. Here, the focus is on neurosurgery applications, in particular brain tumor surgery where a craniotomy (opening of the skull) is performed to access directly the brain region to be treated. In this type of surgery, once the skull is opened the brain can change its shape, and this deformation is known as brain shift. Moreover, the boundaries of many types of tumors are difficult to identify by the naked eye from healthy tissue. The main goal of this work was to study and develop image guidance and visualization methods for tumor surgery in order to overcome the problems faced in this type of surgery.Due to brain shift the magnetic resonance dataset acquired before the operation (preoperatively) no longer corresponds to the anatomy of the patient during the operation (intraoperatively). For this reason, in this work methods were studied and developed to compensate for this deformation. To guide the deformation methods, information of the superficial vessel centerlines of the brain was used. A method for accurate (approximately 1 mm) reconstruction of the vessel centerlines using a multiview camera system was developed. It uses geometrical constraints, relaxation labeling, thin plate spline filtering and finally mean shift to find the correct correspondences between the camera images.A complete non-rigid deformation pipeline was initially proposed and evaluated with an animal model. From these experiments it was observed that although the traditional non-rigid registration methods (in our case coherent point drift) were able to produce satisfactory vessel correspondences between preoperative and intraoperative vessels, in some specific areas the results were suboptimal. For this reason a new method was proposed that combined the coherent point drift and thin plate spline semilandmarks. This combination resulted in an accurate (below 1 mm) non-rigid registration method, evaluated with simulated data where artificial deformations were performed.Besides the non-rigid registration methods, a new rigid registration method to obtain the rigid transformation between the magnetic resonance dataset and the neuronavigation coordinate systems was also developed.Once the rigid transformation and the vessel correspondences are known, i the thin plate spline can be used to perform the brain shift deformation. To do so, we have used two approaches: a direct and an indirect. With the direct approach, an image is created that represents the deformed data, and with the indirect approach, a new volume is first constructed and only after that can the deformed image be created. A comparison of these two approaches, implemented for the graphics processing units, in terms of performance and image quality, was performed. The indirect method was superior in terms of performance if the sampling along the ray is high, in comparison to the voxel grid, while the direct was superior otherwise. The image quality an...

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A novel craniotomy simulation system for evaluation of stereo-pair reconstruction fidelity and tracking

Cited by 5 publications

References 17 publications

A system for automatic monitoring of surgical instruments and dynamic, non-rigid surface deformations in breast cancer surgery

A system for automatic monitoring of surgical instruments and dynamic, non-rigid surface deformations in breast cancer surgery

Stereovision-based integrated system for point cloud reconstruction and simulated brain shift validation

Guidance and Visualization for Brain Tumor Surgery

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