Mr. Alexander W. Stabile Profile

Alexander W. Stabile

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Proceedings Article | 29 March 2024 Presentation + Paper

Image guidance system for breast conserving surgery with integrated stereo camera monitoring and deformable correction

Morgan Ringel, Winona Richey, Jon Heiselman, Alexander Stabile, Ingrid Meszoely, Michael Miga

Proceedings Volume 12928, 129280C (2024) https://doi.org/10.1117/12.3007858

KEYWORDS: Surgery, Breast cancer, Deformation, Breast, 3D modeling, Stereoscopic cameras, Data modeling, Sensors, Imaging systems, Tumors, 3D image processing, Image registration

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Breast conserving surgery (BCS) is a common treatment option for women with early-stage breast cancer, but these procedures have high and variable reoperation rates due to positive margins. Current tumor localization technologies do not provide real-time spatial information about the tumor boundary, emphasizing the need for additional navigation tools. This work proposes an image-guidance system for BCS that combines stereo camera soft tissue monitoring with nonrigid registration to account for misalignments from soft-tissue deformations. The guidance system integrates an optical tracking sensor and a 3D stereo-camera sensor for surgical field monitoring. A custom user interface and display, developed using 3D Slicer, facilitates data collection and visualization of patient-specific imaging data and models. Near real-time deformable correction is driven by tissue displacement measurements and compensates for breast shape change. The feasibility and effectiveness of the guidance system are demonstrated through breast phantom deformation experiments that simulated tissue deformations. In 4 deformation states, 3D stereo-camera sensor data is collected, and imaging data is deformed in near real-time. Evaluation results show a reduction in fiducial and surface registration errors after deformable correction compared to conventional rigid registration approaches. The guidance system is then demonstrated on a healthy volunteer, where data collection and nonrigid correction are performed in a mock intraoperative setting. Overall, the proposed system achieved data collection and navigation capabilities compatible with current BCS workflows. However, quantitatively measuring navigation accuracy and clinical value is not addressed here and should be the focus of future work.

Proceedings Article | 3 April 2023 Poster + Paper

Stereovision registration using a tracked checkerboard calibration object for a breast surgery image guidance system

Alexander Stabile, Morgan Ringel, Winona Richey, Jon Heiselman, Ingrid Meszoely, Michael Miga

Proceedings Volume 12466, 1246629 (2023) https://doi.org/10.1117/12.2655703

KEYWORDS: Calibration, Breast, Stereoscopic cameras, Optical tracking, Deformation, Cameras, Surgery, Image registration, Imaging systems, Tissues

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Breast cancer is a leading cause of death among women in the United States, and Breast Conserving Surgery (BCS) is a common treatment option for women with early-stage breast cancer. The goal of BCS is to localize and remove the tumor with negative margins, and incomplete tumor excision can lead to reoperation and recurrence. To aid with intraoperative tumor localization, a BCS image guidance system that features an optical tracking camera (NDI Polaris Vicra) and stereocameras (FLIR Grasshopper stereocamera pair) for tracking surgical tools and surgical scene monitoring, respectively, is being investigated. However, sensor data collected from both stereovision systems are not inherently co-registered. Thus, this paper proposes utilizing a tracked checkerboard calibration object paired with a custom 3DSlicer module for optical tracker and stereo camera co-registration. The module features an easy-to-use user interface to streamline calibration. The calibration process was validated with a tissue-mimicking breast phantom embedded with beads to represent surface fiducials and undergoing deformations (n=5 mock phantom tissue states). Across five independent calibration trials, the average Fiducial Registration Error (FRE) was calculated to be 0.68mm ± 0.11mm while the average Target Registration Error (TRE) was calculated to be 0.35mm ± 0.14mm. With respect to the challenge test conditions using the mock breast phantom under differing deformations, TRE values were on average determined to be 2.58mm ± 0.26mm over all breast phantom states. Thus, a tracked checkerboard tool paired with the custom 3DSlicer module provided the ability to localize and track points of interest for accurate registration of two different optical tracking systems.

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