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. 2008 Sep;35(9):4251-61.
doi: 10.1118/1.2969064.

Feasibility study for image-guided kidney surgery: assessment of required intraoperative surface for accurate physical to image space registrations

Anne B Benincasa  1 , Logan W Clements, S Duke Herrell, Robert L Galloway
Affiliations

Feasibility study for image-guided kidney surgery: assessment of required intraoperative surface for accurate physical to image space registrations

Anne B Benincasa et al. Med Phys. 2008 Sep.

Abstract

A notable complication of applying current image-guided surgery techniques of soft tissue to kidney resections (nephrectomies) is the limited field of view of the intraoperative kidney surface. This limited view constrains the ability to obtain a sufficiently geometrically descriptive surface for accurate surface-based registrations. The authors examined the effects of the limited view by using two orientations of a kidney phantom to model typical laparoscopic and open partial nephrectomy views. Point-based registrations, using either rigidly attached markers or anatomical landmarks as fiducials, served as initial alignments for surface-based registrations. Laser range scanner (LRS) obtained surfaces were registered to the phantom's image surface using a rigid iterative closest point algorithm. Subsets of each orientation's LRS surface were used in a robustness test to determine which parts of the surface yield the most accurate registrations. Results suggest that obtaining accurate registrations is a function of the percentage of the total surface and of geometric surface properties, such as curvature. Approximately 28% of the total surface is required regardless of the location of that surface subset. However, that percentage decreases when the surface subset contains information from opposite ends of the surface and/or unique anatomical features, such as the renal artery and vein.

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Figures

Figure 1
Figure 1
Laparoscopic orientation (left) of kidney phantom to resemble surface seen by surgeons during a laparoscopic partial nephrectomy. Cradle constructed to provide the open orientation (right) of kidney phantom to resemble surface seen by surgeons during an open partial nephrectomy.
Figure 2
Figure 2
Second segmentation of kidney surface in laparoscopic orientation. Each gray value corresponds to a different surface subset. The numbers represent the percentage of the total image surface used in the registration.
Figure 3
Figure 3
Segmentation of kidney surface in open orientation.
Figure 4
Figure 4
Example of the transformation of the initial pose caused by perturbation vector with magnitudes of 5, 15, and 25 mm.
Figure 5
Figure 5
Segmentation of kidney surface in open orientation.
Figure 6
Figure 6
Mean RMS error over different magnitudes of perturbation for sequential patch combinations in the laparoscopic orientation.
Figure 7
Figure 7
Mean RMS error for different magnitudes of perturbation for various patch combinations in the laparoscopic orientation.
Figure 8
Figure 8
Mean TRE for different magnitudes of perturbation in the open orientation.
Figure 9
Figure 9
A priori vs naïve approach to obtaining intraoperative surface.
Figure 10
Figure 10
Mean RMS error over different magnitudes of perturbation in the open orientation.
Figure 11
Figure 11
Mean curvature over kidney surface: laparoscopic orientation (left) and open orientation (right).
See this image and copyright information in PMC

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