8 March 2013 Endoscopic laser range scanner for minimally invasive, image guided kidney surgery
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Image guided surgery (IGS) has led to significant advances in surgical procedures and outcomes. Endoscopic IGS is hindered, however, by the lack of suitable intraoperative scanning technology for registration with preoperative tomographic image data. This paper describes implementation of an endoscopic laser range scanner (eLRS) system for accurate, intraoperative mapping of the kidney surface, registration of the measured kidney surface with preoperative tomographic images, and interactive image-based surgical guidance for subsurface lesion targeting. The eLRS comprises a standard stereo endoscope coupled to a steerable laser, which scans a laser fan beam across the kidney surface, and a high-speed color camera, which records the laser-illuminated pixel locations on the kidney. Through calibrated triangulation, a dense set of 3-D surface coordinates are determined. At maximum resolution, the eLRS acquires over 300,000 surface points in less than 15 seconds. Lower resolution scans of 27,500 points are acquired in one second. Measurement accuracy of the eLRS, determined through scanning of reference planar and spherical phantoms, is estimated to be 0.38 ± 0.27 mm at a range of 2 to 6 cm. Registration of the scanned kidney surface with preoperative image data is achieved using a modified iterative closest point algorithm. Surgical guidance is provided through graphical overlay of the boundaries of subsurface lesions, vasculature, ducts, and other renal structures labeled in the CT or MR images, onto the eLRS camera image. Depth to these subsurface targets is also displayed. Proof of clinical feasibility has been established in an explanted perfused porcine kidney experiment.
© (2013) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Eric Friets, Eric Friets, Jerry Bieszczad, Jerry Bieszczad, David Kynor, David Kynor, James Norris, James Norris, Brynmor Davis, Brynmor Davis, Lindsay Allen, Lindsay Allen, Robert Chambers, Robert Chambers, Jacob Wolf, Jacob Wolf, Courtenay Glisson, Courtenay Glisson, S. Duke Herrell, S. Duke Herrell, Robert L. Galloway, Robert L. Galloway, "Endoscopic laser range scanner for minimally invasive, image guided kidney surgery", Proc. SPIE 8671, Medical Imaging 2013: Image-Guided Procedures, Robotic Interventions, and Modeling, 867105 (8 March 2013); doi: 10.1117/12.2007608; https://doi.org/10.1117/12.2007608

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