Computer-Assisted Percutaneous Renal Access Using Intraoperative Ultrasonography

Abstract

Abstract-This paper develops an ultrasound-based surgical navigation system for percutaneous renal intervention. The proposed system integrates preoperative magnetic resonance (MR) planning with intraoperative ultrasonography (US) slices, where the MR imagery is registered to the calibrated US data. The interventional punctures can be performed under a visualized guidance interface. We describe this navigation system in details and evaluate the navigated intervention via a phantom model.