A prototype ultrasound-guided laparoscopic radiofrequency ablation system

Research on registration and navigation technology of augmented reality for ex-vivo hepatectomy

PURPOSE

The application of augmented reality technology to the partial hepatectomy procedure has high practical significance, but the existing augmented reality navigation system has major drawbacks in the display and registration methods, which result in low precision. The augmented reality surgical navigation system proposed in this study has been improved in the above two aspects, which can significantly improve the surgical accuracy.

METHODS

The use of optical see-through head-mounted displays for imaging displays can prevent doctors from reconstructing the patient's two-dimensional image information in their minds and reduce the psychological burden of doctors. In the registration process, the biomechanical properties of the liver are introduced, and a non-rigid registration method based on biomechanics is proposed and realized by a meshless algorithm. In addition, this study uses the moving grid algorithm to carry out clinical experiments on ex-vivo pig liver for experimental verification.

RESULTS

The mark-based interactive registration error is 4.21 ± 1.6 mm, and the registration error is reduced after taking the biomechanical properties of the liver into account, which is - 0.153 ± 0.398 mm. The cutting error of the liver model is 0.159 ± 0.292 mm. In addition, with the aid of the navigation system proposed in this paper, the experiment of ex-vivo pig liver cutting was completed with an error of - 1.164 ± 0.576 mm.

CONCLUSIONS

As a proof-of-concept study, the augmented reality navigation system proposed in this study improves the traditional image-guided surgery in terms of display and registration methods, and the feasibility of the system is verified by ex-vivo pig liver experiments. Therefore, the navigation system has a certain guiding significance for clinical surgery.

A Novel Ultrasound-Based Registration for Image-Guided Laparoscopic Liver Ablation

Background Patient-to-image registration is a core process of image-guided surgery (IGS) systems. We present a novel registration approach for application in laparoscopic liver surgery, which reconstructs in real time an intraoperative volume of the underlying intrahepatic vessels through an ultrasound (US) sweep process. Methods An existing IGS system for an open liver procedure was adapted, with suitable instrument tracking for laparoscopic equipment. Registration accuracy was evaluated on a realistic phantom by computing the target registration error (TRE) for 5 intrahepatic tumors. The registration work flow was evaluated by computing the time required for performing the registration. Additionally, a scheme for intraoperative accuracy assessment by visual overlay of the US image with preoperative image data was evaluated. Results The proposed registration method achieved an average TRE of 7.2 mm in the left lobe and 9.7 mm in the right lobe. The average time required for performing the registration was 12 minutes. A positive correlation was found between the intraoperative accuracy assessment and the obtained TREs. Conclusions The registration accuracy of the proposed method is adequate for laparoscopic intrahepatic tumor targeting. The presented approach is feasible and fast and may, therefore, not be disruptive to the current surgical work flow.

Discrimination of liver malignancies with 1064 nm dispersive Raman spectroscopy

Raman spectroscopy has been widely demonstrated for tissue characterization and disease discrimination, however current implementations with either 785 or 830 nm near-infrared (NIR) excitation have been ineffectual in tissues with intense autofluorescence such as the liver. Here we report the use of a dispersive 1064 nm Raman system using a low-noise Indium-Gallium-Arsenide (InGaAs) array to discriminate highly autofluorescent bulk tissue ex vivo specimens from healthy liver, adenocarcinoma, and hepatocellular carcinoma (N = 5 per group). The resulting spectra have been combined with a multivariate discrimination algorithm, sparse multinomial logistic regression (SMLR), to predict class membership of healthy and diseased tissues, and spectral bands selected for robust classification have been extracted. A quantitative metric called feature importance is defined based on classification outputs and is used to guide the association of spectral features with biological indicators of healthy and diseased liver tissue. Spectral bands with high feature importance for healthy and liver tumor specimens include retinol, heme, biliverdin, or quinones (1595 cm(-1)); lactic acid (838 cm(-1)); collagen (873 cm(-1)); and nucleic acids (1485 cm(-1)). Classification performance in both binary (normal versus tumor, 100% sensitivity and 89% specificity) and three-group cases (classification accuracy: normal 89%, adenocarcinoma 74%, hepatocellular carcinoma 64%) indicates the potential for accurately separating healthy and cancerous tissues and suggests implications for utilizing Raman techniques during surgical guidance in liver resection.

A Mechanics-Based Nonrigid Registration Method for Liver Surgery Using Sparse Intraoperative Data

In open abdominal image-guided liver surgery, sparse measurements of the organ surface can be taken intraoperatively via a laser-range scanning device or a tracked stylus with relatively little impact on surgical workflow. We propose a novel nonrigid registration method which uses sparse surface data to reconstruct a mapping between the preoperative CT volume and the intraoperative patient space. The mapping is generated using a tissue mechanics model subject to boundary conditions consistent with surgical supportive packing during liver resection therapy. Our approach iteratively chooses parameters which define these boundary conditions such that the deformed tissue model best fits the intraoperative surface data. Using two liver phantoms, we gathered a total of five deformation datasets with conditions comparable to open surgery. The proposed nonrigid method achieved a mean target registration error (TRE) of 3.3 mm for targets dispersed throughout the phantom volume, using a limited region of surface data to drive the nonrigid registration algorithm, while rigid registration resulted in a mean TRE of 9.5 mm. In addition, we studied the effect of surface data extent, the inclusion of subsurface data, the trade-offs of using a nonlinear tissue model, robustness to rigid misalignments, and the feasibility in five clinical datasets.

Navigation systems in liver surgery: the new challenge for surgical research

Abstract The authors describe the theoretical basis and development of simulation systems that led to the birth of "navigation in liver surgery." Navigation is a new technological application in the surgical field that has already been successfully used in neurosurgery and orthopedic surgery. A precondition to navigate a liver resection is the availability of a map. There are three main methods to acquire images and build a three-dimensional map. Efforts to make navigation "feasible" have been made, but some limits are still affecting the method. Lack of millimetric accuracy, deformation of the liver parenchyma during resection, and breathing movements are some of the most important criticisms of this method, which, however, is still in its infancy. Not only experimental applications but also current and future foreseeable applications of such a technology are overviewed. Goals of this technology should be to reduce the intraoperative stress on surgeons, to shorten resection time, and even indirectly to enlarge resectability of patients. Further developments of this new technology applied to liver surgery could lead in the near future to safer and more precise resections, reducing the risk of postoperative liver failure, even in the presence of large anatomical alterations or, even more frequently in this surgical field, anatomical variants.

Real time 3D visualization of intraoperative organ deformations using structured dictionary

Restricted visualization of the surgical field is one of the most critical challenges for minimally invasive surgery (MIS). Current intraoperative visualization systems are promising. However, they can hardly meet the requirements of high resolution and real time 3D visualization of the surgical scene to support the recognition of anatomic structures for safe MIS procedures. In this paper, we present a new approach for real time 3D visualization of organ deformations based on optical imaging patches with limited field-of-view and a single preoperative scan of magnetic resonance imaging (MRI) or computed tomography (CT). The idea for reconstruction is motivated by our empirical observation that the spherical harmonic coefficients corresponding to distorted surfaces of a given organ lie in lower dimensional subspaces in a structured dictionary that can be learned from a set of representative training surfaces. We provide both theoretical and practical designs for achieving these goals. Specifically, we discuss details about the selection of limited optical views and the registration of partial optical images with a single preoperative MRI/CT scan. The design proposed in this paper is evaluated with both finite element modeling data and ex vivo experiments. The ex vivo test is conducted on fresh porcine kidneys using 3D MRI scans with 1.2 mm resolution and a portable laser scanner with an accuracy of 0.13 mm. Results show that the proposed method achieves a sub-3 mm spatial resolution in terms of Hausdorff distance when using only one preoperative MRI scan and the optical patch from the single-sided view of the kidney. The reconstruction frame rate is between 10 frames/s and 39 frames/s depending on the complexity of the test model.

Laparoscopic ultrasound: a survey of its current and future use, requirements, and integration with navigation technology

BACKGROUND

Laparoscopic ultrasound (LUS) increases surgical safety by allowing the surgeon to see beyond the organ surface, by visualizing vascular structures and by improving surgical precision of tumor resection. A questionnaire-based survey was used to investigate the current use and future expectations of LUS technology.

METHODS

A questionnaire consisting of 26 questions was distributed manually at four different conferences (60% at the European Association for Endoscopic Surgery (EAES) conference, Stockholm 2008). The answers were summarized with descriptive statistics and nonparametric tests at a significance level of 0.05.

RESULTS

The questionnaire was answered by 177 surgeons from 40 different countries (85% from Europe). Of these surgeons, 43% use ultrasound during laparoscopic procedures. Generally, more LUS users are found at university hospitals than at general community hospitals. Surgeons use LUS primarily in procedures related to the liver (67% of the surgeons who use LUS), but LUS also is used in other procedures related to the pancreas, biliary tract, and colon. In a 5-year perspective, 82% of surgeons believe in an increased use of LUS, and 79% of surgeons also think that the use of LUS combined with navigation technology will increase and that the most important requirements for such a system are good image quality, easy interpretation, and a high degree of precision.

CONCLUSIONS

Although the surgeons believe LUS has advantages, only 43% of the respondents reported using it. The surveyed surgeons were largely positive toward an increased use of LUS in a 5-year perspective and believe that LUS combined with navigation technology will contribute to improving the surgical precision of tumor resection.

Laparoscopic radiofrequency ablation for hepatocellular carcinoma

Radiofrequency ablation (RFA) is one of the best curative treatments for hepatocellular carcinoma in selected patients, and this procedure can be applied either percutaneously or laparoscopically. Although the percutaneous approach is less invasive and is considered the first choice, RFA with laparoscopic guidance is highly recommended for patients with a relative contraindication for percutaneous RFA, such as lesions adjacent to the gastrointestinal tract, gallbladder, bile duct and heart. Recent advances in laparoscopic ultrasound have widened the indication for laparoscopic ablation. In the present paper, we review the indications, advantages, prognosis and safety of laparoscopic RFA for hepatocellular carcinoma.

Prototype of an intraoperative navigation and documentation system for laparoscopic radiofrequency ablation: First experiences

AIMS

Laparoscopic radiofrequency ablation (RFA) is an accepted approach to treat unresectable liver tumours, distinguishing itself from other techniques by combining minimal invasiveness and the advantages of a surgical approach. The major task of laparoscopic RFA is the accurate needle placement according to preoperative planning to achieve complete tumour ablation. This study investigates the value of an image-guided surgery system to accomplish this task.

METHODS

An image-guided surgery system for laparoscopic liver treatments (LapAssistent) based on a 3D-navigation scene was developed. A laparoscopic ultrasound probe and a RFA needle could be navigated using an electromagnetic tracking system. The system was studied using a perfused tumour-mimic-model of a porcine liver. Navigating the RFA needle, the tumours were ablated.

RESULTS

The system enables the surgeon to intraoperatively update the three-dimensional planning data in case of new findings. The RFA needle could be placed accurately in a targeted tumour, even out of the ultrasound plane. In case of multiple tumours lying in close spatial relationship, the documentation module helps to keep track of the already ablated tumours and those that still need to be treated.

CONCLUSION

The system adds benefit to laparoscopic RFA enabling the surgeon to place the needle accurately inside the targeted tumours using the navigation scene. A manual alignment of the preoperative data to the physical space produces a feasible result for a restricted region. A precise measurement of the accuracy of this process has to be done. The possibility to update the three-dimensional model with new intraoperative findings enables the surgeon to adapt to a new intraoperative situation. Furthermore the possibility to mark ablated tumours helps to keep track of the operation plan.

Recovery of respiratory motion and deformation of the liver using laparoscopic freehand 3D ultrasound system

The present paper describes a method for intraoperative recovery of respiratory motion and deformation of the liver by using a laparoscopic freehand 3D ultrasound (US) system. The proposed method can extend 3D US data of the liver to 4D by acquiring additional several sequences of time-varying 2D US images during a couple of respiration cycles. 2D US images are acquired on several sagittal image planes and their time-varying 3D positions and orientations are measured using a miniature magnetic 3D position sensor attached to a laparoscopic US (LUS) probe. During the acquisition, the LUS probe is assumed to move together with hepatic surface. Respiratory phases and in-plane 2D deformation fields are estimated from time-varying 2D US images, and then time-varying 3D deformation fields on sagittal image planes are obtained by combining 3D positions and orientations of the image planes. Time-varying 3D deformation field of the volume, that is, 4D deformation field, is obtained by interpolating the 3D deformation fields estimated on several planes. In vivo experiments using a pig liver showed that the proposed method could perform accurate estimation of respiratory cycle and in-plane 2D deformation fields. Furthermore, evaluation for the effects of sagittal plane interval indicated that 4D deformation fields could be stably recovered.

Der laparoskopische Ultraschall

Laparoscopic ultrasound exploration has significantly augmented the range of minimally invasive surgery. In particular it is essential for 3D exploration of the abdomen for staging. Beyond its diagnostic, purposes laparoscopic ultrasound is gaining importance for intraoperative therapeutic support, e. g. imaging of the biliary tree during laparoscopic surgery of the bile duct and for navigation during radio-frequency ablative or resective interventions on the liver and other parenchymatous organs. Compared to other imaging procedures, sonography has still the highest potential for further development. The most progress can be expected in navigated ultrasound.