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Proceedings Paper

Intraoperative ultrasound to stereocamera registration using interventional photoacoustic imaging
Author(s): Saurabh Vyas; Steven Su; Robert Kim; Nathanael Kuo; Russell H. Taylor; Jin U. Kang; Emad M. Boctor
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Paper Abstract

There are approximately 6000 hospitals in the United States, of which approximately 5400 employ minimally invasive surgical robots for a variety of procedures. Furthermore, 95% of these robots require extensive registration before they can be fitted into the operating room. These "registrations" are performed by surgical navigation systems, which allow the surgical tools, the robot and the surgeon to be synchronized together-hence operating in concert. The most common surgical navigation modalities include: electromagnetic (EM) tracking and optical tracking. Currently, these navigation systems are large, intrusive, come with a steep learning curve, require sacrifices on the part of the attending medical staff, and are quite expensive (since they require several components). Recently, photoacoustic (PA) imaging has become a practical and promising new medical imaging technology. PA imaging only requires the minimal equipment standard with most modern ultrasound (US) imaging systems as well as a common laser source. In this paper, we demonstrate that given a PA imaging system, as well as a stereocamera (SC), the registration between the US image of a particular anatomy and the SC image of the same anatomy can be obtained with reliable accuracy. In our experiments, we collected data for N = 80 trials of sample 3D US and SC coordinates. We then computed the registration between the SC and the US coordinates. Upon validation, the mean error and standard deviation between the predicted sample coordinates and the corresponding ground truth coordinates were found to be 3.33 mm and 2.20 mm respectively.

Paper Details

Date Published: 17 February 2012
PDF: 8 pages
Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83160S (17 February 2012); doi: 10.1117/12.912341
Show Author Affiliations
Saurabh Vyas, The Johns Hopkins Univ. (United States)
Steven Su, The Johns Hopkins Univ. (United States)
Robert Kim, The Johns Hopkins Univ. (United States)
Nathanael Kuo, The Johns Hopkins Univ. (United States)
Russell H. Taylor, The Johns Hopkins Univ. (United States)
Jin U. Kang, The Johns Hopkins Univ. (United States)
Emad M. Boctor, The Johns Hopkins Univ. (United States)


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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