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17 August 2016 Navigation of a robot-integrated fluorescence laparoscope in preoperative SPECT/CT and intraoperative freehand SPECT imaging data: a phantom study
Matthias Nathanaël van Oosterom, Myrthe Adriana Engelen, Nynke Sjoerdtje van den Berg, Gijs Hendrik KleinJan, Henk Gerrit van der Poel, Thomas Wendler, Cornelis Jan Hadde van de Velde, Nassir Navab, Fijs Willem Bernhard van Leeuwen
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Journal of Biomedical Optics, Vol. 21, Issue 8, 086008 (August 2016). https://doi.org/10.1117/1.JBO.21.8.086008
Abstract
Robot-assisted laparoscopic surgery is becoming an established technique for prostatectomy and is increasingly being explored for other types of cancer. Linking intraoperative imaging techniques, such as fluorescence guidance, with the three-dimensional insights provided by preoperative imaging remains a challenge. Navigation technologies may provide a solution, especially when directly linked to both the robotic setup and the fluorescence laparoscope. We evaluated the feasibility of such a setup. Preoperative single-photon emission computed tomography/X-ray computed tomography (SPECT/CT) or intraoperative freehand SPECT (fhSPECT) scans were used to navigate an optically tracked robot-integrated fluorescence laparoscope via an augmented reality overlay in the laparoscopic video feed. The navigation accuracy was evaluated in soft tissue phantoms, followed by studies in a human-like torso phantom. Navigation accuracies found for SPECT/CT-based navigation were 2.25 mm (coronal) and 2.08 mm (sagittal). For fhSPECT-based navigation, these were 1.92 mm (coronal) and 2.83 mm (sagittal). All errors remained below the <1-cm detection limit for fluorescence imaging, allowing refinement of the navigation process using fluorescence findings. The phantom experiments performed suggest that SPECT-based navigation of the robot-integrated fluorescence laparoscope is feasible and may aid fluorescence-guided surgery procedures.
CC BY: © The Authors. Published by SPIE under a Creative Commons Attribution 4.0 Unported License. Distribution or reproduction of this work in whole or in part requires full attribution of the original publication, including its DOI.
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Matthias Nathanaël van Oosterom, Myrthe Adriana Engelen, Nynke Sjoerdtje van den Berg, Gijs Hendrik KleinJan, Henk Gerrit van der Poel, Thomas Wendler, Cornelis Jan Hadde van de Velde, Nassir Navab, and Fijs Willem Bernhard van Leeuwen "Navigation of a robot-integrated fluorescence laparoscope in preoperative SPECT/CT and intraoperative freehand SPECT imaging data: a phantom study," Journal of Biomedical Optics 21(8), 086008 (17 August 2016). https://doi.org/10.1117/1.JBO.21.8.086008
Published: 17 August 2016
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Cited by 19 scholarly publications and 1 patent.
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KEYWORDS
Laparoscopy
Luminescence
Navigation systems
Single photon emission computed tomography
Tissues
Optical tracking
Calibration
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