An augmented reality system for liver thermal ablation: Design and evaluation on clinical cases |
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Authors: | S.A. Nicolau X. Pennec L. Soler X. Buy A. Gangi N. Ayache J. Marescaux |
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Affiliation: | 1. IRCAD, virtuals, 1 place de l’hopital, 67091 Strasbourg, France;2. INRIA, 2004 route des Lucioles, BP 93 06902 Sophia Antipolis, Cedex, France;3. Hôpitaux Universitaires de Strasbourg, Hôpital Civil Radiology B, 1 place de l’Hôpital 67091 Strasbourg, France;1. Institute for Diagnostic and Interventional Radiology, Johann Wolfgang Goethe-University Frankfurt, Theodor-Stern-Kai 7, 60590, Frankfurt am Main, Germany;2. Department of Radiology, Faculty of Medicine, Alexandria University, Alexandria, Egypt;1. Department of Radiology, Mayo Clinic, 200 First Street SW, Rochester, MN, 55905, USA;2. Department of Urology, Mayo Clinic, 200 First Street SW, Rochester, MN, 55905, USA;1. Singapore Bioimaging Consortium, Agency for Science, Technology and Research, #08-01, Matrix, 30 Biopolis Street, 138671 Singapore;2. Department of Diagnostic Radiology, Singapore General Hospital, Singapore;3. Department of Surgery, Singapore General Hospital, Singapore;1. Department of Urology, CHU Lille, University Lille Nord de France, F-59000, Lille, France;2. USC Institute of Urology, Keck School of Medicine, University of Southern California, Los Angeles, CA;3. INSERM, U703, F-59120, Loos, France;1. Université Montpellier 2, LIRMM, 161 rue Ada, 34095 Montpellier, France;2. Universidade de Brasília, LARA, Caixa Postal 4386, 70919-970 Brasília-DF, Brazil;3. Universidade Federal de Minas Gerais, Dept. of Electrical Engineering, 31270-010 Belo Horizonte-MG, Brazil;2. Department of Adult Radiology, Necker University Hospital, Paris, France;3. Langevin Institute, ESPCI Paris, PSL Research University CNRS UMR 7587, INSERM ERL U-979, 17 rue Moreau, 75012 Paris, France;4. Department of Urology, Necker University Hospital and Georges Pompidou European Hospital, Paris, France |
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Abstract: | We present in this paper an augmented reality guidance system for liver thermal ablation in interventional radiology. To show the relevance of our methodology, the system is incrementally evaluated on an abdominal phantom and then on patients in the operating room. The system registers in a common coordinate system a preoperative image of the patient and the position of the needle that the practitioner manipulates. The breathing motion uncertainty is taken into account with a respiratory gating technique: the preoperative image and the guidance step are synchronized on expiratory phases. In order to fulfil the real-time constraints, we have developed and validated algorithms that automatically process and extract feature points. Since the guidance interface is also a major component of the system effectiveness, we validate the overall targeting accuracy on an abdominal phantom. This experiment showed that a practitioner can reach a predefined target with an accuracy of 2 mm with an insertion time below one minute. Finally, we propose a passive evaluation protocol of the overall system in the operating room during five interventions on patients. These experiments show that the system can provide a guidance information during expiratory phases with an error below 5 mm. |
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