Recovery of respiratory motion and deformation of the liver using laparoscopic freehand 3D ultrasound system

Nakamoto, Masahiko; Hirayama, Hirohumi; Sato, Yoshinobu; Konishi, Kozo; Kakeji, Yoshihiro; Hashizume, Makoto; Tamura, Shinichi

doi:10.1016/j.media.2007.07.009

Cited by 28 publications

(14 citation statements)

References 29 publications

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“…In this context, a flexible laparoscopic 2D ultrasound probe is commonly used, and electromagnetic tracking sensors are utilized to reconstruct a 3D volume dataset [43], [123] or even a 4D volume over time [83] from freehand 2D measurements. This volume reconstruction is not required whenever 3D ultrasound transducers are available.…”

Section: Current Approaches For Soft Tissue Navigation In Endoscmentioning

confidence: 99%

“…Other approaches, like Nakamoto et al [83], Feuerstein et al [31], [32], and Leven et al [67], do not require a dedicated registration procedure, instead, they utilize tracking bodies or sensors attached to intraoperative imaging devices like US transducers and the endoscope. For this purpose, a calibration procedure has to be performed once, which determines the location of the image volume in space.…”

Section: Current Approaches For Soft Tissue Navigation In Endoscmentioning

confidence: 99%

“…Also in navigated liver resection and laparoscopic RFA, organ motion is considered by means of laparoscopic ultrasound, as proposed e.g. by Nakamoto et al [83]. The real time compensation for tissue motion is becoming more difficult, if motion is non-recurrent and can not be captured continuously by imaging modalities.…”

Section: Navigationmentioning

confidence: 99%

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Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

Baumhauer

Feuerstein

Meinzer

et al. 2008

Journal of Endourology

163

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Abstract-Despite rapid developments in the research areas medical imaging, medical image processing and robotics, the use of computer assistance in surgical routine is still limited to diagnostics, surgical planning, and interventions on mostly rigid structures. In order to establish a computer aided workflow from diagnosis to surgical treatment and follow-up, several proposals for computer assisted soft tissue interventions have been made in recent years. By means of different pre-and intraoperative information sources, like surgical plannings, intraoperative imaging, and tracking devices, surgical navigation systems aim at supporting surgeons in localizing anatomical targets, observing critical structures, and sparing healthy tissue. Current research in particular addresses the problem of organ shift and tissue deformation, and obstacles in communication between navigation system and surgeon.In this article, we review computer assisted navigation systems for soft tissue surgery. We concentrate on approaches which can be applied in endoscopic thoracic and abdominal surgery, as endoscopic surgery has special needs for image guidance due to limitations in perception. Furthermore, this article provides the reader with new trends and technologies in the area of computer assisted surgery. Finally, a balancing of key challenges and possible benefits of endoscopic navigation refines the perspectives of this increasingly important discipline of computer aided medical procedures.

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Section: Current Approaches For Soft Tissue Navigation In Endoscmentioning

confidence: 99%

Section: Current Approaches For Soft Tissue Navigation In Endoscmentioning

confidence: 99%

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Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

Baumhauer

Feuerstein

Meinzer

et al. 2008

Journal of Endourology

163

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“…11 A 4D model that reconstructs this motion intra-operatively in the laparoscopic environment has been reported. 12 The method co-registered stationary LUS images to obtain 2D deformation fields and fitted a breathing model based on a correlation metric between consecutive images. Different time varying fields were interpolated along the liver with B-Splines to generate a 3D model along time.…”

Section: Introductionmentioning

confidence: 99%

Breathing motion compensated registration of laparoscopic liver ultrasound to CT

et al. 2017

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Laparoscopic Ultrasound (LUS) is regularly used during laparoscopic liver resection to locate critical vascular structures. Many tumours are iso-echoic, and registration to pre-operative CT or MR has been proposed as a method of image guidance. However, factors such as abdominal insufflation, LUS probe compression and breathing motion cause deformation of the liver, making this task far from trivial. Fortunately, within a smaller local region of interest a rigid solution can suffice. Also, the respiratory cycle can be expected to be consistent. Therefore, in this paper we propose a feature-based local rigid registration method to align tracked LUS data with CT while compensating for breathing motion. The method employs the Levenberg-Marquardt Iterative Closest Point (LMICP) algorithm, registers both on liver surface and vessels and requires two LUS datasets, one for registration and another for breathing estimation. Breathing compensation is achieved by fitting a 1D breathing model to the vessel points. We evaluate the algorithm by measuring the Target Registration Error (TRE) of three manually selected landmarks of a single porcine subject. Breathing compensation improves accuracy in 77% of the measurements. In the best case, TRE values below 3mm are obtained. We conclude that our method can potentially correct for breathing motion without gated acquisition of LUS and be integrated in the surgical workflow with an appropriate segmentation.

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“…Il n'y a actuellement pas de solution commerciale offrant une assistance peropératoire guidant le chirurgien à travers l'utilisation de cette modélisation. Les travaux de recherche dans ce domaine sont, soit concentrés sur la ponction des tumeurs hépatiques [7][8][9][10][11][12][13], soit fondés sur une utilisation peropératoire d'une échographie 2D sur le foie [14][15][16][17][18]. Les premières utilisent généralement une méthode de recalage rigide supposant ainsi que le patient resterait dans une position figée identique à la position de l'acquisition avant l'opération.…”

Section: ❚ Introductionunclassified

Chirurgie hépatique assistée par ordinateur : de la modélisation 3D préopératoire au guidage peropératoire

Soler¹,

Mutter²,

Marescaux³

2011

Cancérodig.

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La chirurgie représente le meilleur taux de survie pour les cancers hépatiques. Le traitement d'images médicales peut apporter une importante amélioration dans la prise en charge en guidant le geste chirurgical. Nous présentons ici une nouvelle procédure chirurgicale assistée par ordinateur incluant la modélisation 3D préopératoire du patient, suivie par une planification chirurgicale virtuelle et finalisée par un guidage peropératoire réalisé par réalité augmentée (RA). Les premières évaluations incluant des applications cliniques valident le bénéfice attendu. La prochaine étape consistera à automatiser le système de réalité augmentée peropératoire par le développement d'une salle d'opération hybride. Mots-clésChirurgie hépatique, Chirurgie assistée par ordinateur, Réalité virtuelle, Réalité augmentée ❚ AbstractSurgery has the best survival rate in hepatic cancer. However, such interventions cannot be undertaken for all patients as the eligibility rules for liver surgery lack accuracy and may include many exceptions. Medical image processing can lead to a major improvement of patient care by guiding the surgical gesture. We present here a new computer-assisted surgical procedure including preoperative 3D patient modelling, followed by virtual surgical planning and finalized by intraoperative computer guidance through the use of augmented reality. First evaluations including the clinical application validate the awaited benefit. The next step will consist in automating the intraoperative augmented reality system thanks to the development of a hybrid surgical OP-room. KeywordsLiver surgery, Computer-assisted surgery, Virtual reality, Augmented reality ❚ IntroductionLa chirurgie présente aujourd'hui le meilleur taux de survie des patients atteints d'un cancer hépatique. Cependant, l'éligibilité pour la chirurgie hépatique qui repose sur divers critères et règles définis pour la résection partielle et la transplantation, limite à moins de 50 % les patients pouvant être opérés. Une connaissance précise de l'anatomie du foie est donc un point-clé pour toute procédure chirurgicale, y compris la résection de tumeurs hépatiques ou les transplantations de donneurs vivants. De nos

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Recovery of respiratory motion and deformation of the liver using laparoscopic freehand 3D ultrasound system

Cited by 28 publications

References 29 publications

Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

Breathing motion compensated registration of laparoscopic liver ultrasound to CT

Chirurgie hépatique assistée par ordinateur : de la modélisation 3D préopératoire au guidage peropératoire

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