A whole-body registration-free navigation system for image-guided surgery and interventional radiology

Abstract

Rationale and objectives: To develop and test an image-guided navigation system in which the base of reference is taken from the imaging modality, here, a helical CT scanner.

Methods: An optical digitizer together with a calibration device is used to measure the transformation matrix between the digitizer reference system and a CT reference system. During intervention, it tracks radiological and surgical tools with tool references. A specific software visually integrates the current tool position with the corresponding image information. In vitro accuracy tests were performed.

Results: With helical CT, freehand positioning accuracy was 1.9 +/- 1.1 mm (mean +/- SD) in vitro (n = 718).

Conclusions: The navigation system developed by the authors appears to be feasible for radiological interventions as well as for minimally invasive surgery. It is not limited to a certain procedure, can be used in every region of the body, and is functional after imaging. Intraprocedural scans can be integrated immediately.