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International Journal of Computer Assisted Radiology and Surgery

Published in:

01-07-2017 | Original Article

Projective biomechanical depth matching for soft tissue registration in laparoscopic surgery

Authors: Daniel Reichard, Dominik Häntsch, Sebastian Bodenstedt, Stefan Suwelack, Martin Wagner, Hannes Kenngott, Beat Müller-Stich, Lena Maier-Hein, Rüdiger Dillmann, Stefanie Speidel

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

Abstract

Purpose

A key component of computer- assisted surgery systems is the accurate and robust registration of preoperative planning data with intraoperative sensor data. In laparoscopic surgery, this image-based registration remains challenging due to soft tissue deformations. This paper presents a novel approach for biomechanical soft tissue registration of preoperative CT data with stereo endoscopic image data.

Methods

The proposed method consists of two registrations steps. First, we use a 3D surface mosaic from partial surfaces reconstructed from stereo endoscopic images to initially align the biomechanical model with the intraoperative position and shape of the organ. After this initialization, the biomechanical model is projected onto newly captured surfaces, resulting in displacement boundary conditions, which in turn are used to update the biomechanical model.

Results

The method is evaluated in silico, using a human liver model, and in vivo, using porcine data. The quantitative in silico data shows a stable behaviour of the biomechanical model and root-mean-square deviation of volume vertices of under 3 mm with adjusted biomechanical parameters.

Conclusion

This work contributes a fully automatic featureless non-rigid registration approach. The results of the in silico and in vivo experiments suggest that our method is able to handle dynamic deformations during surgery. Additional experiments, especially regarding human tissue behaviour, are an important next step towards clinical applications.

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Title: Projective biomechanical depth matching for soft tissue registration in laparoscopic surgery
Authors: Daniel Reichard
Dominik Häntsch
Sebastian Bodenstedt
Stefan Suwelack
Martin Wagner
Hannes Kenngott
Beat Müller-Stich
Lena Maier-Hein
Rüdiger Dillmann
Stefanie Speidel
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/s11548-017-1613-6

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

Projective biomechanical depth matching for soft tissue registration in laparoscopic surgery

Abstract

Purpose

Methods

Results

Conclusion

Keynote webinar | Spotlight on sleep in brain health

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusion

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