Dynamic Guidance for Robotic Surgery Using Image-Constrained Biomechanical Models

Abstract

The use of physically-based models combined with image constraints for intraoperative guidance is important for surgical procedures that involve large-scale tissue deformation. A biomechanical model of tissue deformation is described in which surface positional constraints and internally generated forces are derived from endoscopic images and preoperative 4D CT data, respectively. Considering cardiac motion, a novel technique is presented which minimises the average registration error over one or more complete cycles. Features tracked in the stereo video stream provide surface constraints, and an inverse finite element simulation is presented which allows internal forces to be recovered from known preoperative displacements. The accuracy of surface texture, segmented mesh and volumetrically rendered overlays is evaluated with detailed phantom experiments. Results indicate that by combining preoperative and intraoperative images in this manner, accurate intraoperative tissue deformation modelling can be achieved.

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

“…In contrast to neurosurgery, there are only a few studies on abdominal or laparoscopic interventions that adapt this concept to date (Simpson et al, 2012;Peterlk et al, 2012;Suwelack et al, 2011a;Miga et al, 2011;Pratt et al, 2010;Dumpuri et al, 2010;Cash et al, 2007Cash et al, , 2005. Using biomechanical models for non-rigid registration is challenging as finite element (FE) models are computationally intensive, but have to be solved in real time for CAS while still being robust and accurate.…”

3D Surface Reconstruction of Organs Using Patient-Specific Shape Priors in Robot-Assisted Laparoscopic Surgery

“…A quantitative validation of our method is performed on cardiac in silico phantom data [4,5] consisting of stereo data, CT scan, and ground truth depth. The provided CT data is high resolution: 215 (0.500 mm thick) vertical long axis slices of 512 × 512 pixels (0.414 mm pixel spacing).…”

“…After describing the details of our method in Section 2, we perform validation on an in silico cardiac phantom [4,5]. To the best of our knowledge, this is the only publicly available dataset captured with the da Vinci System that includes ground truth surface reconstruction.…”

Image-guided simulation of heterogeneous tissue deformation for augmented reality during hepatic surgery

“…Most of the time, simple models based on linear elasticity have been considered [31,33,34]. In [27], a 4D scan of the heart is coupled with a biomechanical model. It is controlled by surface constraints created by features extracted from a stereovision stream and allows quite accurate overlay of internal structures.…”