Fused Video and Ultrasound Images for Minimally Invasive Partial Nephrectomy: A Phantom Study

Cheung, Carling; Wedlake, Chris; Moore, John; Pautler, Stephen E.; Peters, Terry M.

doi:10.1007/978-3-642-15711-0_51

Cited by 35 publications

(33 citation statements)

References 12 publications

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“…Such a situation occurs in many instances when navigating an instrument relative to a tracked imaging source, such as an endoscope [23] or an ultrasound transducer [113]. In these cases, any constant bias that may be introduced into the environment will affect both devices.…”

Section: Discussionmentioning

confidence: 99%

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Franz

Haidegger

Birkfellner

et al. 2014

IEEE Trans. Med. Imaging

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382

273

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Abstract-Object tracking is a key enabling technology in the context of computer-assisted medical interventions. Allowing the continuous localization of medical instruments and patient anatomy, it is a prerequisite for providing instrument guidance to subsurface anatomical structures. The only widely used technique that enables real-time tracking of small objects without lineof-sight restrictions is electromagnetic (EM) tracking. While EM tracking has been the subject of many research efforts, clinical applications have been slow to emerge. The aim of this review paper is therefore to provide insight into the future potential and limitations of EM tracking for medical use. We describe the basic working principles of EM tracking systems, list the main sources of error, and summarize the published studies on tracking accuracy, precision and robustness along with the corresponding validation protocols proposed. State-of-the-art approaches to error compensation are also reviewed in depth. Finally, an overview of the clinical applications addressed with EM tracking is given. Throughout the paper, we report not only on scientific progress, but also provide a review on commercial systems. Given the continuous debate on the applicability of EM tracking in medicine, this paper provides a timely overview of the state-of-the-art in the field.

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Section: Discussionmentioning

confidence: 99%

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Franz

Haidegger

Birkfellner

et al. 2014

IEEE Trans. Med. Imaging

Self Cite

382

273

View full text Add to dashboard Cite

show abstract

“…Its use in laparoscopic tasks has been reported to be efficient and effective. 10,11 As reported by our team and a few others, 7,9 it can also be used in AR visualization.…”

Section: Introductionmentioning

confidence: 70%

“…Many recent works on laparoscopic AR visualization registered and fused intraoperative imaging data with live laparoscopic video. [3][4][5][6][7][8][9] Intraoperative imaging has the advantage of providing real-time updates of the surgical field and, thus, enables AR depiction of moving and deformable organs, such as those located in the abdomen, the thorax, and the pelvis. Computed tomography (CT) and laparoscopic ultrasound (LUS) are the two major intraoperative imaging modalities used for such augmentation.…”

Section: Introductionmentioning

confidence: 99%

“…Because both the LUS probe and the laparoscope contain such materials, the precise location where EM sensors are attached to the two imaging devices is a critical consideration. Although Cheung et al 7 reported an AR system based on EM tracking, the investigators do not describe where the sensors were placed on the two imaging probes, what the EM tracking errors associated with these locations were, or whether or not these locations were clinically practical. Feuerstein et al 20 proposed a hybrid optical-EM method to track the flexible tip of the LUS probe.…”

Section: Introductionmentioning

confidence: 99%

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Laparoscopic stereoscopic augmented reality: toward a clinically viable electromagnetic tracking solution

et al. 2016

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Abstract. The purpose of this work was to develop a clinically viable laparoscopic augmented reality (AR) system employing stereoscopic (3-D) vision, laparoscopic ultrasound (LUS), and electromagnetic (EM) tracking to achieve image registration. We investigated clinically feasible solutions to mount the EM sensors on the 3-D laparoscope and the LUS probe. This led to a solution of integrating an externally attached EM sensor near the imaging tip of the LUS probe, only slightly increasing the overall diameter of the probe. Likewise, a solution for mounting an EM sensor on the handle of the 3-D laparoscope was proposed. The spatial image-to-video registration accuracy of the AR system was measured to be 2.59 AE 0.58 mm and 2.43 AE 0.48 mm for the leftand right-eye channels, respectively. The AR system contributed 58-ms latency to stereoscopic visualization. We further performed an animal experiment to demonstrate the use of the system as a visualization approach for laparoscopic procedures. In conclusion, we have developed an integrated, compact, and EM tracking-based stereoscopic AR visualization system, which has the potential for clinical use. The system has been demonstrated to achieve clinically acceptable accuracy and latency. This work is a critical step toward clinical translation of AR visualization for laparoscopic procedures.

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“…Recent studies [4,7] have considered conventional tracking methods (e.g. electromagnetic or optical tracking of the distal probe), but the ubiquity of ferromagnetic materials and awkward lines of sight in the operating theatre present problems that invariably hinder translation of this technology into everyday clinical practice.…”

Section: Purposementioning

confidence: 99%

Robust ultrasound probe tracking: initial clinical experiences during robot-assisted partial nephrectomy

et al. 2015

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PURPOSE:In order to assist in the identification of renal vasculature and tumour boundaries in robot-assisted partial nephrectomy, robust ultrasound probe calibration and tracking methods are introduced. Contemporaneous image guidance during these crucial stages of the procedure should ultimately lead to improved safety and quality of outcome for the patient, through reduced positive margin rates, segmental clamping, shorter ischaemic times and nephron-sparing resection. METHODS:Small KeyDot markers with circular dot patterns are attached to a miniature pick-up ultrasound probe. Generic probe calibration is superseded by a more robust scheme based on a sequence of physical transducer measurements. Motion prediction combined with a reduced region-of-interest in the endoscopic video feed facilitate real-time tracking and registration performance at full HD resolutions. RESULTS:Quantitative analysis confirms that circular dot patterns result in an improved translational and rotational working envelope, in comparison to the previous chessboard pattern implementation. Furthermore, increased robustness is observed with respect to prevailing illumination levels, and out-of-focus images due to relatively small endoscopic depths of field.CONCLUSION: Circular dot patterns should be employed in this context as they result in improved performance and robustness. This facilitates clinical usage and interpretation of the combined video and ultrasound overlay. The efficacy of the overall system is demonstrated in the first human clinical case.

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Fused Video and Ultrasound Images for Minimally Invasive Partial Nephrectomy: A Phantom Study

Cited by 35 publications

References 12 publications

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Laparoscopic stereoscopic augmented reality: toward a clinically viable electromagnetic tracking solution

Robust ultrasound probe tracking: initial clinical experiences during robot-assisted partial nephrectomy

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