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International Journal of Computer Assisted Radiology and Surgery

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01-08-2016 | Original Article

A clinically applicable laser-based image-guided system for laparoscopic liver procedures

Authors: Matteo Fusaglia, Hanspeter Hess, Marius Schwalbe, Matthias Peterhans, Pascale Tinguely, Stefan Weber, Huanxiang Lu

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 8/2016

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Abstract

Purpose

Laser range scanners (LRS) allow performing a surface scan without physical contact with the organ, yielding higher registration accuracy for image-guided surgery (IGS) systems. However, the use of LRS-based registration in laparoscopic liver surgery is still limited because current solutions are composed of expensive and bulky equipment which can hardly be integrated in a surgical scenario.

Methods

In this work, we present a novel LRS-based IGS system for laparoscopic liver procedures. A triangulation process is formulated to compute the 3D coordinates of laser points by using the existing IGS system tracking devices. This allows the use of a compact and cost-effective LRS and therefore facilitates the integration into the laparoscopic setup. The 3D laser points are then reconstructed into a surface to register to the preoperative liver model using a multi-level registration process.

Results

Experimental results show that the proposed system provides submillimeter scanning precision and accuracy comparable to those reported in the literature. Further quantitative analysis shows that the proposed system is able to achieve a patient-to-image registration accuracy, described as target registration error, of \(3.2\pm 0.57\,\hbox {mm}\).

Conclusions

We believe that the presented approach will lead to a faster integration of LRS-based registration techniques in the surgical environment. Further studies will focus on optimizing scanning time and on the respiratory motion compensation.

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Title: A clinically applicable laser-based image-guided system for laparoscopic liver procedures
Authors: Matteo Fusaglia
Hanspeter Hess
Marius Schwalbe
Matthias Peterhans
Pascale Tinguely
Stefan Weber
Huanxiang Lu
Publication date: 01-08-2016
Publisher: Springer Berlin Heidelberg
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 8/2016
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-015-1309-8

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Abstract

Purpose

Methods

Results

Conclusions

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