Skip to main content
Article thumbnail
Location of Repository

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

By Anne B. Benincasa, Logan W. Clements, S. Duke Herrell and Robert L. Galloway

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

Topics: Radiation Imaging Physics
Publisher: American Association of Physicists in Medicine
OAI identifier: oai:pubmedcentral.nih.gov:2673657
Provided by: PubMed Central
Download PDF:
Sorry, we are unable to provide the full text but you may find it at the following location(s):
  • http://www.pubmedcentral.nih.g... (external link)
  • Suggested articles


    To submit an update or takedown request for this paper, please submit an Update/Correction/Removal Request.