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Proceedings Paper

Accuracy validation of an image guided laparoscopy system for liver resection
Author(s): Stephen Thompson; Johannes Totz; Yi Song; Stian Johnsen; Danail Stoyanov; Sébastien Ourselin; Kurinchi Gurusamy; Crispin Schneider; Brian Davidson; David Hawkes; Matthew J. Clarkson
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Paper Abstract

We present an analysis of the registration component of a proposed image guidance system for image guided liver surgery, using contrast enhanced CT. The analysis is performed on a visually realistic liver phantom and in-vivo porcine data. A robust registration process that can be deployed clinically is a key component of any image guided surgery system. It is also essential that the accuracy of the registration can be quantified and communicated to the surgeon. We summarise the proposed guidance system and discuss its clinical feasibility. The registration combines an intuitive manual alignment stage, surface reconstruction from a tracked stereo laparoscope and a rigid iterative closest point registration to register the intra-operative liver surface to the liver surface derived from CT. Testing of the system on a liver phantom shows that subsurface landmarks can be localised to an accuracy of 2.9 mm RMS. Testing during five porcine liver surgeries demonstrated that registration can be performed during surgery, with an error of less than 10 mm RMS for multiple surface landmarks.

Paper Details

Date Published: 18 March 2015
PDF: 12 pages
Proc. SPIE 9415, Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling, 941509 (18 March 2015); doi: 10.1117/12.2080974
Show Author Affiliations
Stephen Thompson, Univ. College London (United Kingdom)
Johannes Totz, Univ. College London (United Kingdom)
Yi Song, Univ. College London (United Kingdom)
Stian Johnsen, Univ. College London (United Kingdom)
Danail Stoyanov, Univ. College London (United Kingdom)
Sébastien Ourselin, Univ. College London (United Kingdom)
Kurinchi Gurusamy, Univ. College London Medical School (United Kingdom)
Crispin Schneider, Univ. College London Medical School (United Kingdom)
Brian Davidson, Univ. College London Medical School (United Kingdom)
David Hawkes, Univ. College London (United Kingdom)
Matthew J. Clarkson, Univ. College London (United Kingdom)


Published in SPIE Proceedings Vol. 9415:
Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling
Robert J. Webster; Ziv R. Yaniv, Editor(s)

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