Towards multi-modal image-guided tumour identification in robot-assisted partial nephrectomy

Hamarneh, Ghassan; Amir-Khalili, Alborz; Nosrati, Masoud S.; Figueroa, Iván Oliva; Kawahara, Jeremy; Al-Alao, Osama; Peyrat, Jean-Marc; Abinahed, Julien; Al‐Ansari, Abdulla; Abugharbieh, Rafeef

doi:10.1109/mecbme.2014.6783230

Cited by 10 publications

(9 citation statements)

References 16 publications

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“…Also once significant changes are made during surgery the pre-operative data becomes 'outdated', and less useful. Previous works can be divided into whether the MIS video is monocular [15] or stereo [2,3,5,8,9,18]. In [15] an initial rigid registration is performed manually with an interactive Graphical User Interface (GUI), and then automatic feature-based tracking is performed.…”

Section: Prior Workmentioning

confidence: 99%

“…The registration problem is less difficult with stereo because one can reconstruct intra-operative 3D surface information by stereo reconstruction [17], and this provides greater registration constraints. Of these stereo methods, some perform the registration with a manual GUI [5,9] and others perform it semi-automatically with manually located landmarks [2,3,8,18]. In some works the registration is refined by minimising the distance between the pre and intra-operative surfaces [8,18], and in other works tracking is performed with texture features [9].…”

Section: Prior Workmentioning

confidence: 99%

“…Of these stereo methods, some perform the registration with a manual GUI [5,9] and others perform it semi-automatically with manually located landmarks [2,3,8,18]. In some works the registration is refined by minimising the distance between the pre and intra-operative surfaces [8,18], and in other works tracking is performed with texture features [9]. Various deformation models have been used to constrain the registration problem, including the rigid model [18], 3D splines [3] and biomechanical models [8,9].…”

Section: Prior Workmentioning

confidence: 99%

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Computer-Assisted Laparoscopic myomectomy by augmenting the uterus with pre-operative MRI data

Collins

Pizarro

Bartoli

et al. 2014

2014 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)

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Figure 1: Proposed AR solution for computer-assisted myomectomy. (a) Sagittal MRI slice showing a uterus with two myomas in dark grey. (b) MRI segmentation of uterus and myomas. (c) Raw laparoscopic image and (d) translucent augmentation of the myomas. ABSTRACTAn active research objective in Computer Assisted Intervention (CAI) is to develop guidance systems to aid surgical teams in laparoscopic Minimal Invasive Surgery (MIS) using Augmented Reality (AR). This involves registering and fusing additional data from other modalities and overlaying it onto the laparoscopic video in realtime. We present the first AR-based image guidance system for assisted myoma localisation in uterine laparosurgery. This involves a framework for semi-automatically registering a preoperative Magnetic Resonance Image (MRI) to the laparoscopic video with a deformable model. Although there has been several previous works involving other organs, this is the first to tackle the uterus. Furthermore, whereas previous works perform registration between one or two laparoscopic images (which come from a stereo laparoscope) we show how to solve the problem using many images (e.g. 20 or more), and show that this can dramatically improve registration. Also unlike previous works, we show how to integrate occluding contours as registration cues. These cues provide powerful registration constraints and should be used wherever possible. We present retrospective qualitative results on a patient with two myomas and quantitative semi-synthetic results. Our multi-image framework is quite general and could be adapted to improve registration in other organs with other modalities such as CT.

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Section: Prior Workmentioning

confidence: 99%

Section: Prior Workmentioning

confidence: 99%

Section: Prior Workmentioning

confidence: 99%

See 1 more Smart Citation

Computer-Assisted Laparoscopic myomectomy by augmenting the uterus with pre-operative MRI data

Collins

Pizarro

Bartoli

et al. 2014

2014 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)

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“…The registration between three-dimensional (3D) USA imaging with CT modality is commonly used in surgical navigation systems to identify and locate regions of interest (ROI) during surgery (Peterhans et al, 2008;Li et al, 2011;and Hamarneh et al, 2014). Three-dimensionalUSA images can be obtained directly from 3D probes or through conventional two-dimensional (2D) USA systems equipped with position sensors to obtain 3D data.…”

Section: Introductionmentioning

confidence: 99%

Robotic motion compensation for bone movement, using ultrasound images

Torres

Gonçalves

Martins

2015

Industrial Robot: An International Journal

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Access to this document was granted through an Emerald subscription provided by emerald-srm:468524 [] For AuthorsIf you would like to write for this, or any other Emerald publication, then please use our Emerald for Authors service information about how to choose which publication to write for and submission guidelines are available for all. Please visit www.emeraldinsight.com/authors for more information. About Emerald www.emeraldinsight.comEmerald is a global publisher linking research and practice to the benefit of society. The company manages a portfolio of more than 290 journals and over 2,350 books and book series volumes, as well as providing an extensive range of online products and additional customer resources and services.Emerald is both COUNTER 4 and TRANSFER compliant. The organization is a partner of the Committee on Publication Ethics (COPE) and also works with Portico and the LOCKSS initiative for digital archive preservation. AbstractPurpose -The purpose of this paper is to present a robotic motion compensation system, using ultrasound images, to assist orthopedic surgery. The robotic system can compensate for femur movements during bone drilling procedures. Although it may have other applications, the system was thought to be used in hip resurfacing (HR) prosthesis surgery to implant the initial guide tool. The system requires no fiducial markers implanted in the patient, by using only non-invasive ultrasound images. Design/methodology/approach -The femur location in the operating room is obtained by processing ultrasound (USA) and computer tomography (CT) images, obtained, respectively, in the intra-operative and pre-operative scenarios. During surgery, the bone position and orientation is obtained by registration of USA and CT three-dimensional (3D) point clouds, using an optical measurement system and also passive markers attached to the USA probe and to the drill. The system description, image processing, calibration procedures and results with simulated and real experiments are presented and described to illustrate the system in operation. Findings -The robotic system can compensate for femur movements, during bone drilling procedures. In most experiments, the update was always validated, with errors of 2 mm/4°. Originality/value -The navigation system is based entirely on the information extracted from images obtained from CT pre-operatively and USA intra-operatively. Contrary to current surgical systems, it does not use any type of implant in the bone to track the femur movements.

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“…This would help surgical planning and further processing such as intra-oprative image-guided augmented reality solutions for tumor identification [11]. The contributions of our work are: 1) A preliminary study on the effects of kidney surface external pressure on the tumor position and 2) the simulation of a biomechanical model of the kidney that includes the parenchyma, tumor and the capsule.…”

Section: Introductionmentioning

confidence: 99%

Biomechanical kidney model for predicting tumor displacement in the presence of external pressure load

Figueroa-Garcia

Peyrat

Hamarneh

et al. 2014

2014 IEEE 11th International Symposium on Biomedical Imaging (ISBI)

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Robot-assisted partial nephrectomy (RAPN) is a minimally invasive surgery for the treatment of renal cell carcinoma that consists of removing the portion of the kidney that contains the tumor. To plan the resection, surgeons rely on preoperative scans of the patient. However, at surgery time, the shape of abdominal organs differ from these images due to factors such as patient position, insufflation and manipulation with surgical instruments. In this work, we focus on the simulation of kidney deformation due to an external pressure load, e.g. during insufflation, to provide a better estimation of the tumor mass position that is particularly important to plan resection with proper margins. The CT scans of ex vivo lamb kidneys with artificial tumors and fiducials are acquired in absence of external pressure load. From these images, 3D tetrahedral meshes of kidney parenchyma and tumor, as well as a triangular mesh of the capsule, are extracted and then used along with a soft tissue biomechanical model to simulate deformations under additional external pressure load. A second CT scan of the same kidneys under real pressure load are acquired as a reference to evaluate the advantage of simulating deformations over using the first CT scan without external pressure load. Results show that the biomechanical simulation improves by 29% the tumor localization.

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Towards multi-modal image-guided tumour identification in robot-assisted partial nephrectomy

Cited by 10 publications

References 16 publications

Computer-Assisted Laparoscopic myomectomy by augmenting the uterus with pre-operative MRI data

Computer-Assisted Laparoscopic myomectomy by augmenting the uterus with pre-operative MRI data

Robotic motion compensation for bone movement, using ultrasound images

Biomechanical kidney model for predicting tumor displacement in the presence of external pressure load

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