Using CamiTK for rapid prototyping of interactive Computer Assisted Medical Intervention applications

Promayon, Emmanuel; Fouard, Céline; Bailet, Mathieu; Deram, Aurélien; Fiard, G.; Hungr, Nikolai; Luboz, Vincent; Sarrazin, Johan; Saubat, Nicolas; Selmi, S.; Voros, Nikolaos S.; Cinquin, Philippe; Troccaz, Jocelyne

doi:10.1109/embc.2013.6610654

Cited by 5 publications

(2 citation statements)

References 4 publications

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“…To perform the sensitivity study, we developed a specific tool in the CamiTK framework [10] to generate synthetic data sets and add some noise to them. Virtual reference frames symbolizing respectively the robot and the reference US volume are randomly generated.…”

Section: Generation Of Virtual Bench Testsmentioning

confidence: 99%

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Sarrazin

Promayon

Baumann³

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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Abstract-3D UltraSound (US) probes are used in clinical applications for their ease of use and ability to obtain intraoperative volumes. In surgical navigation applications a calibration step is needed to localize the probe in a general coordinate system. This paper presents a new hand-eye calibration method using directly the kinematic model of a robot and US volume registration data that does not require any 3D localizers. First results show a targeting error of 2.34 mm on an experimental setup using manual segmentation of five beads in ten US volumes.

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Section: Generation Of Virtual Bench Testsmentioning

confidence: 99%

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Sarrazin

Promayon

Baumann³

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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“…Interventions guided by fusion imaging are an expanding field in the domain of computer-assisted surgery. 17,23 Valve-in-valve procedures have evolved from an off-label use of THV therapies to an established alternative to redo surgery in the treatment of bioprosthetic SVD. 6Y11 Generally speaking, patient selection, procedural planning, and a thorough understanding of surgical valves'design are pivotal to successful ViV procedures.…”

Section: Discussionmentioning

confidence: 99%

Computer-Assisted Transcatheter Heart Valve Implantation in Valve-in-Valve Procedures

Soulami

Verhoye

Duc³

et al. 2016

Innovations�(Phila)

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Objective Valve-in-valve (ViV) procedures are increasingly being considered as an alternative to redo surgery for the treatment of degenerated bioprosthetic heart valves in patients with excessive reoperative risk. The objective of our study was to evaluate the feasibility of computer guidance in transcatheter heart valve (THV) implantation during ViV procedures. Methods Preprocedural electrocardiogram-gated computed tomography–scan images were processed using semiautomatic segmentation of the degenerated bioprosthesis’ radiopaque landmarks and of the ascending aorta. Virtual three-dimensional (3D) reconstructions were created. A virtual plane was subsequently added to the 3D reconstructions, indicating the optimal landing plane of the THV inside the tissue valve. Within a hybrid operating theater, a 3D/2D registration was used to superimpose the 3D reconstructions, while dynamic tracking was allowed to maintain the superimposition onto the fluoroscopic images. The THV was afterward implanted according to the optimal landing plane. Projection of the ascending aorta and the coronary arteries was used to assess the risk of coronary ostia obstruction. Results Between January 2014 and October 2014, nine patients underwent aortic ViV procedures in our institution. Among those nine patients, five procedures were retrospectively evaluated as a validation step using the proposed method. The mean (SD) superimposition error was 1.1 (0.75) mm. Subsequently, two live cases were prospectively carried out using our approach, successfully implanting the THV inside the degenerated tissue valve. Conclusions Our study demonstrates the feasibility of a computer-guided implantation of THV in ViV procedures. Moreover, it suggests that augmented reality may increase the reliability of THV implantation inside degenerated bioprostheses through better reproducibility.

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Evaluation of the Needle Positioning Accuracy of a Light Puncture Robot Under MRI Guidance: Results of a Clinical Trial on Healthy Volunteers

Ghelfi

Moreau–Gaudry

Hungr

et al. 2018

Cardiovasc Intervent Radiol

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Using CamiTK for rapid prototyping of interactive Computer Assisted Medical Intervention applications

Cited by 5 publications

References 4 publications

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Hand-eye calibration of a robot - UltraSound probe system without any 3D localizers

Computer-Assisted Transcatheter Heart Valve Implantation in Valve-in-Valve Procedures

Evaluation of the Needle Positioning Accuracy of a Light Puncture Robot Under MRI Guidance: Results of a Clinical Trial on Healthy Volunteers

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