Technical advances toward interactive image-guided laparoscopic surgery |
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Authors: | A Herline J D Stefansic J Debelak R L Galloway W C Chapman |
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Institution: | (1) Division of Hepatobiliary Surgery and Liver Transplant, Vanderbilt University Medical Center, 801 Oxford House, Nashville, TN 37232-4753, USA, US;(2) Department of Biomedical Engineering, Vanderbilt University Medical Center, 801 Oxford House, Nashville, TN 37232-4753, USA, US |
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Abstract: | Background: Laparoscopic surgery uses real-time video to display the operative field. Interactive image-guided surgery (IIGS) is the
real-time display of surgical instrument location on corresponding computed tomography (CT) scans or magnetic resonance images
(MRI). We hypothesize that laparoscopic IIGS technologies can be combined to offer guidance for general surgery and, in particular,
hepatic procedures. Tumor information determined from CT imaging can be overlayed onto laparoscopic video imaging to allow
more precise resection or ablation.
Methods: We mapped three-dimensional (3D) physical space to 2D laparoscopic video space using a common mathematical formula. Inherent
distortions present in the video images were quantified and then corrected to determine their effect on this 3D to 2D mapping.
Results: Errors in mapping 3D physical space to 2D video image space ranged from 0.65 to 2.75 mm.
Conclusions: Laparoscopic IIGS allows accurate (<3.0 mm) confirmation of 3D physical space points on video images. This in combination
with accurately tracked instruments and an appropriate display may facilitate enhanced image guidance during laparoscopy.
Received: 30 April 1999/Accepted: 10 November 1999/Online publication: 8 May 2000 |
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Keywords: | : Endoscopic distortion — Endoscopic registration — Image-guided surgery — Tracked endoscopy |
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