A survey of augmented reality methods to guide minimally invasive partial nephrectomy

Khaddad, Abderrahmane; Bernhard, Jean-Christophe; Margue, G.; Michiels, C.; Ricard, S.; Chandelon, Kilian; Bladou, Franck; Bourdel, Nicolas; Bartoli, Adrien

doi:10.1007/s00345-022-04078-0

Cited by 14 publications

(3 citation statements)

References 54 publications

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“…Nevertheless, the integration of 3D models into the operative field has been lacking due to three main reasons. Firstly, proper model alignment with the intraoperative anatomy has proven to be a major challenge due to shifting of organs during surgery and different patient positioning in surgery versus during computed tomography [ 2 , 3 ]. Secondly, automated organ registra‐tion in a continuously moving surgical video has been another major challenge for many years [ 4 ].…”

Section: Introductionmentioning

confidence: 99%

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First‐in‐human real‐time AI‐assisted instrument deocclusion during augmented reality robotic surgery

Hofman,

De Backer,

Manghi

et al. 2023

Healthcare Tech Letters

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The integration of Augmented Reality (AR) into daily surgical practice is withheld by the correct registration of pre‐operative data. This includes intelligent 3D model superposition whilst simultaneously handling real and virtual occlusions caused by the AR overlay. Occlusions can negatively impact surgical safety and as such deteriorate rather than improve surgical care. Robotic surgery is particularly suited to tackle these integration challenges in a stepwise approach as the robotic console allows for different inputs to be displayed in parallel to the surgeon. Nevertheless, real‐time de‐occlusion requires extensive computational resources which further complicates clinical integration. This work tackles the problem of instrument occlusion and presents, to the authors’ best knowledge, the first‐in‐human on edge deployment of a real‐time binary segmentation pipeline during three robot‐assisted surgeries: partial nephrectomy, migrated endovascular stent removal, and liver metastasectomy. To this end, a state‐of‐the‐art real‐time segmentation and 3D model pipeline was implemented and presented to the surgeon during live surgery. The pipeline allows real‐time binary segmentation of 37 non‐organic surgical items, which are never occluded during AR. The application features real‐time manual 3D model manipulation for correct soft tissue alignment. The proposed pipeline can contribute towards surgical safety, ergonomics, and acceptance of AR in minimally invasive surgery.

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Section: Introductionmentioning

confidence: 99%

“…NVIDIA TensorRT: https://developer.nvidia.com/tensorrt 2. NVIDIA Developer Kits for medical devices: https://www.nvidia.com/en-gb/clara/ intelligent-medical-instruments/ 3. Clara AGX Product Brief with Technical details: https://resources.nvidia.com/en-usenabling-smart-hospitals-ai-ep/nvidia-clara-agx-dev?lx=KWlJE5&xs=301547 4.…”

mentioning

confidence: 99%

First‐in‐human real‐time AI‐assisted instrument deocclusion during augmented reality robotic surgery

Hofman,

De Backer,

Manghi

et al. 2023

Healthcare Tech Letters

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show abstract

“…This system would remove the need for fluoroscopy, simplify the procedure and greatly enhance the comfort and safety of the surgical team. While Augmented Endoscopy has been proposed for other applications [9][10][11] , it has to our knowledge never been studied for VATS, except for 2D tracking of manually placed anatomical points on the surface of the lung 12 . Although our setup requires a CBCT, typically in an hybrid Operating Theater (OR), one of our objectives is to avoid the use of non-standard devices such as a stereo endoscope or a tracking system.…”

Section: Introductionmentioning

confidence: 99%

Registration of 2D monocular endoscopy to 3D CBCT for video-assisted thoracoscopic surgery

Noblet

Chabanas

Rouzé

et al. 2023

Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling

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Cone-Beam CT (CBCT) is a valuable imaging modality for the intraoperative localization of pulmonary nodules during Video-Assisted Thoracoscopic Surgery (VATS). However, inferring the nodule position from the CBCT to the operative field remains challenging and could greatly benefit from computer-aided guiding. As a first step towards an Augmented Endoscopy guiding system, we propose to register 2D monocular endoscopic views into the 3D CBCT space. Ribs and wound protectors are segmented in both imaging modalities, then registered using an image-to-cloud Iterative Closest Point variant. The method is evaluated qualitatively on clinical VATS video sequences from 3 patients. The promising results validate this first step towards a seamless monocular VATS navigation.

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Late complications and 5 years outcomes of robotic partial nephrectomy in France: prospective assessment in the French Kidney Cancer Research Network (UroCCR 10)

et al. 2023

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A survey of augmented reality methods to guide minimally invasive partial nephrectomy

Cited by 14 publications

References 54 publications

First‐in‐human real‐time AI‐assisted instrument deocclusion during augmented reality robotic surgery

First‐in‐human real‐time AI‐assisted instrument deocclusion during augmented reality robotic surgery

Registration of 2D monocular endoscopy to 3D CBCT for video-assisted thoracoscopic surgery

Late complications and 5 years outcomes of robotic partial nephrectomy in France: prospective assessment in the French Kidney Cancer Research Network (UroCCR 10)

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