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International Journal of Computer Assisted Radiology and Surgery

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Open Access 01-08-2018 | Original Article

A pre-operative planning framework for global registration of laparoscopic ultrasound to CT images

Authors: João Ramalhinho, Maria R. Robu, Stephen Thompson, Kurinchi Gurusamy, Brian Davidson, David Hawkes, Dean Barratt, Matthew J. Clarkson

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 8/2018

Abstract

Purpose

Laparoscopic ultrasound (LUS) enhances the safety of laparoscopic liver resection by enabling real-time imaging of internal structures such as vessels. However, LUS probes can be difficult to use, and many tumours are iso-echoic and hence are not visible. Registration of LUS to a pre-operative CT or MR scan has been proposed as a method of image guidance. However, the field of view of the probe is very small compared to the whole liver, making the registration task challenging and dependent on a very accurate initialisation.

Methods

We propose the use of a subject-specific planning framework that provides information on which anatomical liver regions it is possible to acquire vascular data that is unique enough for a globally optimal initial registration. Vessel-based rigid registration on different areas of the pre-operative CT vascular tree is used in order to evaluate predicted accuracy and reliability.

Results

The planning framework is tested on one porcine subject where we have taken 5 independent sweeps of LUS data from different sections of the liver. Target registration error of vessel branching points was used to measure accuracy. Global registration based on vessel centrelines is applied to the 5 datasets. In 3 out of 5 cases registration is successful and in agreement with the planning. Further tests with a CT scan under abdominal insufflation show that the framework can provide valuable information in all of the 5 cases.

Conclusions

We have introduced a planning framework that can guide the surgeon on how much LUS data to collect in order to provide a reliable globally unique registration without the need for an initial manual alignment. This could potentially improve the usability of these methods in clinic.

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Title: A pre-operative planning framework for global registration of laparoscopic ultrasound to CT images
Authors: João Ramalhinho
Maria R. Robu
Stephen Thompson
Kurinchi Gurusamy
Brian Davidson
David Hawkes
Dean Barratt
Matthew J. Clarkson
Publication date: 01-08-2018
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 8/2018
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-018-1799-2

At a glance: The ONWARDS insulin icodec trials

Springer Medicine

A pre-operative planning framework for global registration of laparoscopic ultrasound to CT images

Abstract

Purpose

Methods

Results

Conclusions

At a glance: The ONWARDS insulin icodec trials

Springer Medicine

Abstract

Purpose

Methods

Results

Conclusions

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