Intra-operative “Pick-Up” Ultrasound for Robot Assisted Surgery with Vessel Extraction and Registration: A Feasibility Study

Schneider, Charles L.; Guerrero, J. Ismael Fernández; Nguan, Christopher; Rohling, Robert; Salcudean, Septimiu E.

doi:10.1007/978-3-642-21504-9_12

Cited by 27 publications

(10 citation statements)

References 17 publications

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“…We demonstrate that it can create 3D ultrasound volumes via transducer tracking methods and that the volumes can be used for pre-operative imaging registration. A preliminary study of the "pick-up" transducer was presented using one tracking method [18]. In this paper, we study the accuracy of each of the three tracking methods used with this novel transducer and the potential for vessel reconstruction with each tracking method.…”

Section: Introductionmentioning

confidence: 99%

Tracked “Pick-Up” Ultrasound for Robot-Assisted Minimally Invasive Surgery

Schneider

Nguan²,

Rohling³

et al. 2016

IEEE Trans. Biomed. Eng.

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Section: Introductionmentioning

confidence: 99%

Tracked “Pick-Up” Ultrasound for Robot-Assisted Minimally Invasive Surgery

Schneider

Nguan²,

Rohling³

et al. 2016

IEEE Trans. Biomed. Eng.

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“…Unfortunately, the geometric requirements of our method make it less suited to the registration of laparoscopic ultrasound (LUS). While in some cases it might be possible to utilize our registration method with LUS, for example by applying the registration tool and LUS probe to opposite lateral aspects of the prostate, previously described methods based on optical markers attached to the LUS probe [5], [34] likely hold more promise. It is also worth noting that while our focus in this paper has been registration to the stereo endoscope of the da Vinci system, our method can also potentially be applied to conventional single-channel laparoscopic vision systems.…”

Section: Discussionmentioning

confidence: 96%

Registration of 3D Ultrasound Through an Air–Tissue Boundary

Adebar

Yip

Salcudean

et al. 2012

IEEE Trans. Med. Imaging

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In this study we evaluated a new method for registering three-dimensional ultrasound (3DUS) data to external coordinate systems. First, 3DUS was registered to the stereo endoscope of a da Vinci Surgical System by placing a registration tool against an air-tissue boundary so that the 3DUS could image ultrasound fiducials while the stereo endoscope could image camera markers on the same tool. The common points were used to solve the registration between the 3DUS and camera coordinate systems. The target registration error (TRE) when imaging through a PVC tissue phantom ranged from 3.85 1.76 mm to 1.82 1.03 mm using one to four registration tool positions. TRE when imaging through an ex-vivo liver tissue sample ranged from 2.36 1.01 mm to 1.51 0.70 mm using one to four registration tool positions. Second, using a similar method, 3DUS was registered to the kinematic coordinate system of a da Vinci Surgical System by using the da Vinci surgical manipulators to identify common points on an air-tissue boundary. TRE when imaging through a PVC tissue phantom was 0.95 0.38 mm. This registration method is simpler and potentially more accurate than methods using commercial motion tracking systems. This method may be useful in the future in augmented reality systems for laparoscopic and robotic-assisted surgery.

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“…freehand ultrasound or freehand SPECT [8]) or robots (e.g. laparoscopic ultrasound with the Da Vinci robot [6] or C-arm X-ray imaging [2]), and using these measurements for tomographic reconstruction. In this case, it is essential to quickly generate useful acquisition trajectories such that a minimal number of acquisitions yields the best possible sampling of the region of interest, and thus an optimal reconstruction for the task at hand.…”

Section: Introductionmentioning

confidence: 99%

Optimization of Acquisition Geometry for Intra-operative Tomographic Imaging

Vogel

Reichl

Gardiazabal

et al. 2012

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2012

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Abstract. Acquisition geometries for tomographic reconstruction are usually densely sampled in order to keep the underlying linear system used in iterative reconstruction as well-posed as possible. While this objective is easily enforced in imaging systems with gantries, this issue is more critical for intra-operative setups using freehand-guided data sensing. This paper investigates an incremental method to monitor the numerical condition of the system based on the singular value decomposition of the system matrix, and presents an approach to find optimal detector positions via a randomized optimization scheme. The feasibility of this approach is demonstrated using simulations of an intra-operative functional imaging setup and actual robot-controlled phantom experiments.

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Intra-operative “Pick-Up” Ultrasound for Robot Assisted Surgery with Vessel Extraction and Registration: A Feasibility Study

Cited by 27 publications

References 17 publications

Tracked “Pick-Up” Ultrasound for Robot-Assisted Minimally Invasive Surgery

Tracked “Pick-Up” Ultrasound for Robot-Assisted Minimally Invasive Surgery

Registration of 3D Ultrasound Through an Air–Tissue Boundary

Optimization of Acquisition Geometry for Intra-operative Tomographic Imaging

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