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International Journal of Computer Assisted Radiology and Surgery

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Open Access 01-07-2017 | Original Article

Intelligent viewpoint selection for efficient CT to video registration in laparoscopic liver surgery

Authors: Maria R. Robu, Philip Edwards, João Ramalhinho, Stephen Thompson, Brian Davidson, David Hawkes, Danail Stoyanov, Matthew J. Clarkson

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 7/2017

Abstract

Purpose

Minimally invasive surgery offers advantages over open surgery due to a shorter recovery time, less pain and trauma for the patient. However, inherent challenges such as lack of tactile feedback and difficulty in controlling bleeding lower the percentage of suitable cases. Augmented reality can show a better visualisation of sub-surface structures and tumour locations by fusing pre-operative CT data with real-time laparoscopic video. Such augmented reality visualisation requires a fast and robust video to CT registration that minimises interruption to the surgical procedure.

Methods

We propose to use view planning for efficient rigid registration. Given the trocar position, a set of camera positions are sampled and scored based on the corresponding liver surface properties. We implement a simulation framework to validate the proof of concept using a segmented CT model from a human patient. Furthermore, we apply the proposed method on clinical data acquired during a human liver resection.

Results

The first experiment motivates the viewpoint scoring strategy and investigates reliable liver regions for accurate registrations in an intuitive visualisation. The second experiment shows wider basins of convergence for higher scoring viewpoints. The third experiment shows that a comparable registration performance can be achieved by at least two merged high scoring views and four low scoring views. Hence, the focus could change from the acquisition of a large liver surface to a small number of distinctive patches, thereby giving a more explicit protocol for surface reconstruction. We discuss the application of the proposed method on clinical data and show initial results.

Conclusion

The proposed simulation framework shows promising results to motivate more research into a comprehensive view planning method for efficient registration in laparoscopic liver surgery.

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Title: Intelligent viewpoint selection for efficient CT to video registration in laparoscopic liver surgery
Authors: Maria R. Robu
Philip Edwards
João Ramalhinho
Stephen Thompson
Brian Davidson
David Hawkes
Danail Stoyanov
Matthew J. Clarkson
Publication date: 01-07-2017
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 7/2017
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-017-1584-7

At a glance: The STEP trials

Springer Medicine

Intelligent viewpoint selection for efficient CT to video registration in laparoscopic liver surgery

Abstract

Purpose

Methods

Results

Conclusion

At a glance: The STEP trials

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusion

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