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13 March 2009 A deformation model for non-rigid registration of the kidney
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The development of an image-guided renal surgery system may aid tumor resection during partial nephrectomies. This system would require the registration of pre-operative kidney CT or MR scans to the physical kidney; however, the amount of non-rigid deformation occurring during surgery and whether it can be corrected for in an image-guided system is unknown. One possible source of non-rigid deformation is a change in pressure within the kidney: during surgery, clamping of the renal artery and vein results in a loss of perfusion, such that the subsequent cutting of the kidney and fluid outflow may cause a decrease in intrarenal pressure. In this work, we attempt to characterize the deformation due to cutting of the kidney and subsequent changes in intrarenal pressure. To accomplish this, we perfused a resected porcine kidney at a physiologically realistic pressure, clamped the renal vessels, and cut the kidney using a tracked scalpel. The resulting deformation was tracked in a CT scanner using 15-20 glass bead fiducials attached to the kidney surface. A modified form of Biot's consolidation model was used to simulate the deformation, and the accuracy was assessed by calculating the target registration error and image similarity.
© (2009) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Rowena E. Ong, Courtenay L. Glisson, S. Duke Herrell, Michael I. Miga, and Robert Galloway "A deformation model for non-rigid registration of the kidney", Proc. SPIE 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, 72613A (13 March 2009);

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