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Proceedings Paper

Fusion of intraoperative force sensoring, surface reconstruction and biomechanical modeling
Author(s): S. Röhl; S. Bodenstedt; C. Küderle; S. Suwelack; H. Kenngott; B. P. Müller-Stich; R. Dillmann; S. Speidel
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Paper Abstract

Minimally invasive surgery is medically complex and can heavily benefit from computer assistance. One way to help the surgeon is to integrate preoperative planning data into the surgical workflow. This information can be represented as a customized preoperative model of the surgical site. To use it intraoperatively, it has to be updated during the intervention due to the constantly changing environment. Hence, intraoperative sensor data has to be acquired and registered with the preoperative model. Haptic information which could complement the visual sensor data is still not established. In addition, biomechanical modeling of the surgical site can help in reflecting the changes which cannot be captured by intraoperative sensors. We present a setting where a force sensor is integrated into a laparoscopic instrument. In a test scenario using a silicone liver phantom, we register the measured forces with a reconstructed surface model from stereo endoscopic images and a finite element model. The endoscope, the instrument and the liver phantom are tracked with a Polaris optical tracking system. By fusing this information, we can transfer the deformation onto the finite element model. The purpose of this setting is to demonstrate the principles needed and the methods developed for intraoperative sensor data fusion. One emphasis lies on the calibration of the force sensor with the instrument and first experiments with soft tissue. We also present our solution and first results concerning the integration of the force sensor as well as accuracy to the fusion of force measurements, surface reconstruction and biomechanical modeling.

Paper Details

Date Published: 17 February 2012
PDF: 9 pages
Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83160L (17 February 2012); doi: 10.1117/12.911406
Show Author Affiliations
S. Röhl, Karlsruhe Institute of Technology (Germany)
S. Bodenstedt, Karlsruhe Institute of Technology (Germany)
C. Küderle, Karlsruhe Institute of Technology (Germany)
S. Suwelack, Karlsruhe Institute of Technology (Germany)
H. Kenngott, Heidelberg Univ. Hospital (Germany)
B. P. Müller-Stich, Heidelberg Univ. Hospital (Germany)
R. Dillmann, Karlsruhe Institute of Technology (Germany)
S. Speidel, Karlsruhe Institute of Technology (Germany)

Published in SPIE Proceedings Vol. 8316:
Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling
David R. Holmes; Kenneth H. Wong, Editor(s)

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