In vivo comparison of two navigation systems for abdominal percutaneous needle intervention

A robotic system for transthoracic puncture of pulmonary nodules based on gated respiratory compensation

BACKGROUND AND OBJECTIVE

With the urgent demands for rapid and precise localization of pulmonary nodules in procedures such as transthoracic puncture biopsy and thoracoscopic surgery, many surgical navigation and robotic systems are applied in the clinical practice of thoracic operation. However, current available positioning methods have certain limitations, including high radiation exposure, large errors from respiratory, complicated and time-consuming procedures, etc. METHODS: To address these issues, a preoperative computed tomography (CT) image-guided robotic system for transthoracic puncture was proposed in this study. Firstly, an algorithm for puncture path planning based on constraints from clinical knowledge was developed. This algorithm enables the calculation of Pareto optimal solutions for multiple clinical targets concerning puncture angle, puncture length, and distance from hazardous areas. Secondly, to eradicate intraoperative radiation exposure, a fast registration method based on preoperative CT and gated respiration compensation was proposed. The registration process could be completed by the direct selection of points on the skin near the sternum using a hand-held probe. Gating detection and joint optimization algorithms are then performed on the collected point cloud data to compensate for errors from respiratory motion. Thirdly, to enhance accuracy and intraoperative safety, the puncture guide was utilized as an end effector to restrict the movement of the optically tracked needle, then risky actions with patient contact would be strictly limited.

RESULTS

The proposed system was evaluated through phantom experiments on our custom-designed simulation test platform for patient respiratory motion to assess its accuracy and feasibility. The results demonstrated an average target point error (TPE) of 2.46 ± 0.68 mm and an angle error (AE) of 1.49 ± 0.45° for the robotic system.

CONCLUSIONS

In conclusion, our proposed system ensures accuracy, surgical efficiency, and safety while also reducing needle insertions and radiation exposure in transthoracic puncture procedures, thus offering substantial potential for clinical application.

A fully automatic surgical registration method for percutaneous abdominal puncture surgical navigation

Surgical registration that maps surgical space onto image space plays an important role in surgical navigation. Accurate surgical registration can help surgeons efficiently locate surgical instruments. The complicated marker-based surgical registration method is highly accurate, but it is time-consuming. Therefore, a marker-less surgical registration method with high-precision and high-efficiency is proposed without human intervention. Firstly, the surgical navigation system based on the multi-vision system is calibrated by using a specially-designed calibration board. When extracting the abdominal point cloud acquired by the structured light vision system, the constraint is constructed by using Computed Tomography (CT) image to filter out the points in irrelevant areas to improve the computational efficiency. The Coherent Point Drift (CPD) algorithm based on Gaussian Mixture Model (GMM) is applied in the registration of abdominal point cloud with lack of surface features. To enhance the efficiency of the CPD algorithm, firstly, the system calibration result is used in rough registration of the point cloud, and then the proper point cloud pretreatment method and its parameters are studied through experiments. Finally, the puncturing simulation experiments were carried out by using the abdominal phantom. The experimental results show that the proposed surgical registration method has high accuracy and efficiency, and has potential clinical application value.

Development and clinical evaluation of a contactless operating interface for three-dimensional image-guided navigation for endovascular neurosurgery

Purpose

In endovascular neurosurgery, the operator often acquires three-dimensional (3D) images of the cerebral vessels. Although workstation reoperation is required in some situations during treatment, it leads to time loss because a sterile condition cannot be maintained and treatment must be temporarily interrupted. Therefore, a workstation reoperating system is required while maintaining the desired sterility.

Methods

A contactless operating interface using Kinect to control 3D images was developed via gesture recognition for endovascular neurosurgery and was applied to a 3D volume rendering technique (VRT) image reconstructed at the workstation. The left-hand movement determines the assigned functions, whereas the right-hand movement is used like a computer mouse to pan and zoom in/out. In addition to the interface, voice commands were used and assigned to digital operations, such as image view changes and mode signal changes.

Results

This system was used for the actual endovascular treatment of cerebral aneurysms and cerebral arteriovenous malformations. The operator and gesture were recognized without any problems. Using voice operation, it was possible to expeditiously set the VRT image back to the reference angle. Furthermore, it was possible to finely adjust gesture operations, including mouse operation, and treatment was completed while maintaining sterile conditions.

Conclusion

A contactless operating interface was developed by combining the existing workstation system with Kinect and voice recognition software, allowing surgeons to perform a series of operations, which are normally performed in a console room, while maintaining sterile conditions.

Supplementary Information

The online version contains supplementary material available at 10.1007/s11548-021-02330-3.