Feasibility study for image guided kidney surgery: assessment of required intraoperative surface for accurate image to physical space registrations

Anne B. Benincasa; Logan W. Clements; S. Duke Herrell M.D.; Sam S. Chang M.D.; Michael S. Cookson M.D.; Robert L. Galloway

doi:10.1117/12.648427

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13 March 2006 Feasibility study for image guided kidney surgery: assessment of required intraoperative surface for accurate image to physical space registrations

Anne B. Benincasa, Logan W. Clements, S. Duke Herrell M.D., Sam S. Chang M.D., Michael S. Cookson M.D., Robert L. Galloway

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Proceedings Volume 6141, Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display; 61411U (2006) https://doi.org/10.1117/12.648427
Event: Medical Imaging, 2006, San Diego, California, United States

Abstract

Currently, the removal of kidney tumor masses uses only direct or laparoscopic visualizations, resulting in prolonged procedure and recovery times and reduced clear margin. Applying current image guided surgery (IGS) techniques, as those used in liver cases, to kidney resections (nephrectomies) presents a number of complications. Most notably is the limited field of view of the intraoperative kidney surface, which constrains the ability to obtain a surface delineation that is geometrically descriptive enough to drive a surface-based registration. Two different phantom orientations were used to model the laparoscopic and traditional partial nephrectomy views. For the laparoscopic view, fiducial point sets were compiled from a CT image volume using anatomical features such as the renal artery and vein. For the traditional view, markers attached to the phantom set-up were used for fiducials and targets. The fiducial points were used to perform a point-based registration, which then served as a guide for the surface-based registration. Laser range scanner (LRS) obtained surfaces were registered to each phantom surface using a rigid iterative closest point algorithm. Subsets of each phantom's LRS surface were used in a robustness test to determine the predictability of their registrations to transform the entire surface. Results from both orientations suggest that about half of the kidney's surface needs to be obtained intraoperatively for accurate registrations between the image surface and the LRS surface, suggesting the obtained kidney surfaces were geometrically descriptive enough to perform accurate registrations. This preliminary work paves the way for further development of kidney IGS systems.

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Anne B. Benincasa, Logan W. Clements, S. Duke Herrell M.D., Sam S. Chang M.D., Michael S. Cookson M.D., and Robert L. Galloway "Feasibility study for image guided kidney surgery: assessment of required intraoperative surface for accurate image to physical space registrations", Proc. SPIE 6141, Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display, 61411U (13 March 2006); https://doi.org/10.1117/12.648427

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