Augmented environments for the targeting of hepatic lesions during image-guided robotic liver surgery

Buchs, Nicolas; Volonte, Francesco Giorgio Domenic; Pugin, François Louis; Toso, Christian; Fusaglia, Matteo; Gavaghan, Kate; Majno, Pietro; Peterhans, Matthias; Weber, Stefan; Morel, Philippe

doi:10.1016/j.jss.2013.04.032

Cited by 75 publications

(51 citation statements)

References 23 publications

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“…Attempts of AR have been realized in laparoscopy to improve the visualization of the screen, which appeared as an ideal interface between the numerical reconstruction and the surgeon [10], [11]. A 3D visualization and surgical planning software tools are proposed in [12] to overlay a 3D preoperative model on top of the stereoscopic camera of the Da Vinci robot; model registration is manually performed, but [13] proposed an automatic method to estimate the location of the endoscope by locating the tip of the volume data.…”

Section: Related Workmentioning

confidence: 99%

Marker-Based Registration for Large Deformations - Application to Open Liver Surgery

Adagolodjo

Golse

Vibert

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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This paper introduces an Augmented Reality (AR) system for open liver surgery. Although open surgery remains the gold-standard for the treatment of complex tumors and central lesions, technological issues actually prevent using AR with sufficient accuracy for clinical use. We propose a markersbased method allowing for the tracking and the deformation of a preoperative model in real-time during the surgery. Markers are manually placed on the surface of the organ after opening the abdominal cavity, and tracked in real-time by a set of infrared cameras. Our framework is composed of both a nonrigid initial registration method, providing an estimation of the location of the markers in the preoperative model, and a realtime tracking algorithm to deform the model during the surgery (even for large deformation or partial occlusion of the organ). The method is validated on both synthetic and ex-vivo samples; in addition, we demonstrate its applicability in the operating room during a liver resection surgery on a human patient. Preliminary studies provided promising results to improve the location of tumors, and to help surgeons into planning the ideal resection intraoperatively.

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Section: Related Workmentioning

confidence: 99%

Marker-Based Registration for Large Deformations - Application to Open Liver Surgery

Adagolodjo

Golse

Vibert

et al. 2018

2018 IEEE International Conference on Robotics and Automation (ICRA)

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“…The system is based on tracked US to CT registration using semi-automatically extracted vessel features [22]. Integration with the da Vinci Si System (Intuitive Surgical Inc., Sunnyvale, CA), qualitatively suggests improved visualization in a pilot study of two patients [23]. A case report of a patient with a complex hydatid cyst with biliary tree communication showed the promise of the system [24].…”

Section: Application Of Iglsmentioning

confidence: 99%

Current Evidence in Image-Guided Liver Surgery

Kingham

2016

Journal of Gastrointestinal Surgery

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“…This interposition allows creating an augmented environment, and we have been able to integrate virtual images directly inside the surgical console 38)- 40) , for example to target liver lesions 41) . Such a process is of interest notably to obtain clearer surgical margins.…”

Section: Future Perspectives and Conclusionmentioning

confidence: 99%

Robotic Liver Resection

Buchs

Morel

Toso

2015

Juntendo Medical Journal

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Laparoscopic liver surgery is gaining in interest, especially for the management of patients with single lesions, ≤5 cm, located in liver segments two to six. Preliminary results of case-control studies have demonstrated at least similar outcomes between the laparoscopic and open approaches. In parallel, robotic liver surgery is also performed more and more often, and in an always-growing number of centers. The robotic approach includes a three-dimensional vision, and the use of instruments with high degrees of freedom. These technical advantages are expected to allow more extreme and safer minimally invasive liver surgery, including the resection of lesions located high and posterior in the liver, a better node dissection, and safer hepatico-jejunostomy. However, more investigations are needed in the field, and the aim of the present study was to review the current literature and the available evidence regarding the use of the robotic approach for liver surgery. We also speculate on the future developments, which might contribute to further establish the robot.

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Augmented environments for the targeting of hepatic lesions during image-guided robotic liver surgery

Cited by 75 publications

References 23 publications

Marker-Based Registration for Large Deformations - Application to Open Liver Surgery

Marker-Based Registration for Large Deformations - Application to Open Liver Surgery

Current Evidence in Image-Guided Liver Surgery

Robotic Liver Resection

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