Liver deformation in an animal model due to pneumoperitoneum assessed by a vessel-based deformable registration

Vijayan, Sinara; Reinertsen, Ingerid; Hofstad, Erlend Fagertun; Rethy, Anna; Hernes, Toril A. Nagelhus; Langø, Thomas

doi:10.3109/13645706.2014.914955

Cited by 18 publications

(12 citation statements)

References 23 publications

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“…After rigid registration, the salient feature and anterior surface digitizations are resampled using the surface reconstruction method described by Collins et al 35 This resampling method standardizes the density and topology of the sparse surfaces to diminish the influences of trajectory, dwell, and surface noise from intraoperative data collection. An augmented vector of model parameters α 0 is considered, where E Q -T A R G E T ; t e m p : i n t r a l i n k -; e 0 1 6 ; 3 2 6 ; 4 7 0 α 0 ¼ ½α T ; t x ; t y ; t z ; θ x ; θ y ; θ z T (16) includes the rigid body translation and rotation parameters t x , t y , t z , θ x , θ y , and θ z in addition to the vector of linear coefficients α that apply to the preoperatively determined responses to control point deformations. The corrected node positions x c are taken to be E Q -T A R G E T ; t e m p : i n t r a l i n k -; e 0 1 7 ; 3 2 6 ; 3 8 2…”

Section: Reconstruction Of Intraoperative Deformationmentioning

confidence: 99%

“…Intraoperative deformation is further complicated by the choice of dissecting any number of these ligaments depending on the degree of organ mobilization required. While deformations exceeding 11 mm have been observed in porcine livers in response to insufflation, 16,17 no clinical analysis of liver deformation during laparoscopy has been performed. The first aim of this work is to quantify the amount of deformation attributed to the laparoscopic approach from a series of 25 clinical laparoscopic-toopen conversions.…”

Section: Introductionmentioning

confidence: 99%

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Characterization and correction of intraoperative soft tissue deformation in image-guided laparoscopic liver surgery

et al. 2017

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Laparoscopic liver surgery is challenging to perform due to a compromised ability of the surgeon to localize subsurface anatomy in the constrained environment. While image guidance has the potential to address this barrier, intraoperative factors, such as insufflation and variable degrees of organ mobilization from supporting ligaments, may generate substantial deformation. The severity of laparoscopic deformation in humans has not been characterized, and current laparoscopic correction methods do not account for the mechanics of how intraoperative deformation is applied to the liver. We first measure the degree of laparoscopic deformation at two insufflation pressures over the course of laparoscopic-to-open conversion in 25 patients. With this clinical data alongside a mock laparoscopic phantom setup, we report a biomechanical correction approach that leverages anatomically load-bearing support surfaces from ligament attachments to iteratively reconstruct and account for intraoperative deformations. Laparoscopic deformations were significantly larger than deformations associated with open surgery, and our correction approach yielded subsurface target error of [Formula: see text] and surface error of [Formula: see text] using only sparse surface data with realistic surgical extent. Laparoscopic surface data extents were examined and found to impact registration accuracy. Finally, we demonstrate viability of the correction method with clinical data.

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Section: Reconstruction Of Intraoperative Deformationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Characterization and correction of intraoperative soft tissue deformation in image-guided laparoscopic liver surgery

et al. 2017

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“…Although the shorter condition increases the accuracy, the 33 cm-distant conditions were selected for the limits of laparoscopic procedures. Although a shift and deformation of 44.6 mm on average was assumed because of the combined effect of respiration and pneumoperitoneum [15][16][17][18] , errors of the simulation have been reported within 2 cm in recent studies 7,19 . However, the dynamic navigation technique based on an electromagnetic-tracked laparoscopic ultrasound-based navigation approach reported accurate and efficient targeting of liver tumours in a laparoscopic ablation as the median target-positioning error was 4.2 mm and median effort time was 39 sec 20 .…”

Section: Discussionmentioning

confidence: 99%

Initial Report: A Novel Intraoperative Navigation System for Laparoscopic Liver Resection Using Real-Time Virtual Sonography

Sakata

Kijima

Arai

2020

Sci Rep

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Recent progress in navigation has revealed problems involving non-rigid registration for hepatic surgery. With the increasing popularity of laparoscopic liver surgery, a new laparoscopic navigation system is necessary. this study involved an in-vitro demonstration of a 3-dimensional printer model and in vivo demonstration in four patients. for the in vitro examination, a position detecting unit attached at 33 cm and 13 cm distance conditions from the tip of the electrocautery was examined eight times at the marked points on the liver surface eight times respectively. The differences between the simulation and the authentic dissecting plane were conventionally investigated in vivo. In vitro, the errors of the 33 cm and 13 cm distance model were7.8 ± 3.5 mm (mean ± SD), and 3.3 ± 1.0 mm, respectively. The mean differences of the dissection plane were within 10 mm. The potentiality and safety of the novel navigation system was confirmed, although further investigation is recommended.

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“…Therefore, anatomical movements like respiratory motion, or pneumoperitoneum, are not taken into account. These factors could result in deformations on the liver of several centimetres [ 18 ]. However, due to the local registration using the LUS, the effect of these deformations can be reduced locally on the registered lesion.…”

Section: Methodsmentioning

confidence: 99%

Laboratory test of Single Landmark registration method for ultrasound-based navigation in laparoscopy using an open-source platform

et al. 2018

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PurposeTest the feasibility of the novel Single Landmark image-to-patient registration method for use in the operating room for future clinical trials. The algorithm is implemented in the open-source platform CustusX, a computer-aided intervention research platform dedicated to intraoperative navigation and ultrasound, with an interface for laparoscopic ultrasound probes. MethodsThe Single Landmark method is compared to fiducial landmark on an IOUSFAN (Kyoto Kagaku Co., Ltd., Japan) soft tissue abdominal phantom and T2 magnetic resonance scans of it.ResultsThe experiments show that the accuracy of the Single Landmark registration is good close to the registered point, increasing with the distance from this point (12.4 mm error at 60 mm away from the registered point). In this point, the registration accuracy is mainly dominated by the accuracy of the user when clicking on the ultrasound image. In the presented set-up, the time required to perform the Single Landmark registration is 40% less than for the FLRM.ConclusionThe Single Landmark registration is suitable for being integrated in a laparoscopic workflow. The statistical analysis shows robustness against translational displacements of the patient and improvements in terms of time. The proposed method allows the clinician to accurately register lesions intraoperatively by clicking on these in the ultrasound image provided by the ultrasound transducer. The Single Landmark registration method can be further combined with other more accurate registration approaches improving the registration at relevant points defined by the clinicians.

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Liver deformation in an animal model due to pneumoperitoneum assessed by a vessel-based deformable registration

Abstract: The results can contribute to the use of intraoperative imaging to correct for anatomic shift so that preoperative data can be used with greater confidence and accuracy during guidance of laparoscopic liver procedures.

Cited by 18 publications

References 23 publications

Characterization and correction of intraoperative soft tissue deformation in image-guided laparoscopic liver surgery

Characterization and correction of intraoperative soft tissue deformation in image-guided laparoscopic liver surgery

Initial Report: A Novel Intraoperative Navigation System for Laparoscopic Liver Resection Using Real-Time Virtual Sonography

Laboratory test of Single Landmark registration method for ultrasound-based navigation in laparoscopy using an open-source platform

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