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Qi Z, Jin H, Wang Q, Gan Z, Xiong R, Zhang S, Liu M, Wang J, Ding X, Chen X, Zhang J, Nimsky C, Bopp MHA. The Feasibility and Accuracy of Holographic Navigation with Laser Crosshair Simulator Registration on a Mixed-Reality Display. SENSORS (BASEL, SWITZERLAND) 2024; 24:896. [PMID: 38339612 PMCID: PMC10857152 DOI: 10.3390/s24030896] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 01/04/2024] [Revised: 01/21/2024] [Accepted: 01/23/2024] [Indexed: 02/12/2024]
Abstract
Addressing conventional neurosurgical navigation systems' high costs and complexity, this study explores the feasibility and accuracy of a simplified, cost-effective mixed reality navigation (MRN) system based on a laser crosshair simulator (LCS). A new automatic registration method was developed, featuring coplanar laser emitters and a recognizable target pattern. The workflow was integrated into Microsoft's HoloLens-2 for practical application. The study assessed the system's precision by utilizing life-sized 3D-printed head phantoms based on computed tomography (CT) or magnetic resonance imaging (MRI) data from 19 patients (female/male: 7/12, average age: 54.4 ± 18.5 years) with intracranial lesions. Six to seven CT/MRI-visible scalp markers were used as reference points per case. The LCS-MRN's accuracy was evaluated through landmark-based and lesion-based analyses, using metrics such as target registration error (TRE) and Dice similarity coefficient (DSC). The system demonstrated immersive capabilities for observing intracranial structures across all cases. Analysis of 124 landmarks showed a TRE of 3.0 ± 0.5 mm, consistent across various surgical positions. The DSC of 0.83 ± 0.12 correlated significantly with lesion volume (Spearman rho = 0.813, p < 0.001). Therefore, the LCS-MRN system is a viable tool for neurosurgical planning, highlighting its low user dependency, cost-efficiency, and accuracy, with prospects for future clinical application enhancements.
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Affiliation(s)
- Ziyu Qi
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany;
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
| | - Haitao Jin
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
- Medical School of Chinese PLA, Beijing 100853, China
- NCO School, Army Medical University, Shijiazhuang 050081, China
| | - Qun Wang
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
| | - Zhichao Gan
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
- Medical School of Chinese PLA, Beijing 100853, China
| | - Ruochu Xiong
- Department of Neurosurgery, Division of Medicine, Graduate School of Medical Sciences, Kanazawa University, Takara-machi 13-1, Kanazawa 920-8641, Japan;
| | - Shiyu Zhang
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
- Medical School of Chinese PLA, Beijing 100853, China
| | - Minghang Liu
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
- Medical School of Chinese PLA, Beijing 100853, China
| | - Jingyue Wang
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
- Medical School of Chinese PLA, Beijing 100853, China
| | - Xinyu Ding
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
- Medical School of Chinese PLA, Beijing 100853, China
| | - Xiaolei Chen
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
| | - Jiashu Zhang
- Department of Neurosurgery, First Medical Center of Chinese PLA General Hospital, Beijing 100853, China; (H.J.); (Q.W.); (Z.G.); (S.Z.); (M.L.); (J.W.); (X.D.); (X.C.); (J.Z.)
| | - Christopher Nimsky
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany;
- Center for Mind, Brain and Behavior (CMBB), 35043 Marburg, Germany
| | - Miriam H. A. Bopp
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany;
- Center for Mind, Brain and Behavior (CMBB), 35043 Marburg, Germany
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2
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Dacanay E, Burbridge MA. Lipedematous scalp renders surgical neuronavigation facial recognition registration impossible using conventional methods. J Clin Monit Comput 2023; 37:933-935. [PMID: 36596970 DOI: 10.1007/s10877-022-00966-3] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/16/2022] [Revised: 12/15/2022] [Accepted: 12/19/2022] [Indexed: 01/05/2023]
Affiliation(s)
- Ezikiel Dacanay
- Neuronavigation Technologist, Stanford Healthcare, 94305, Stanford, CA, USA
| | - Mark A Burbridge
- Department of Anesthesiology, Perioperative and Pain Management, Stanford University School of Medicine, 94305, Stanford, CA, USA.
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Nieminen AE, Nieminen JO, Stenroos M, Novikov P, Nazarova M, Vaalto S, Nikulin V, Ilmoniemi RJ. Accuracy and precision of navigated transcranial magnetic stimulation. J Neural Eng 2022; 19. [PMID: 36541458 DOI: 10.1088/1741-2552/aca71a] [Citation(s) in RCA: 14] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/25/2022] [Accepted: 11/29/2022] [Indexed: 12/02/2022]
Abstract
Objective.Transcranial magnetic stimulation (TMS) induces an electric field (E-field) in the cortex. To facilitate stimulation targeting, image-guided neuronavigation systems have been introduced. Such systems track the placement of the coil with respect to the head and visualize the estimated cortical stimulation location on an anatomical brain image in real time. The accuracy and precision of the neuronavigation is affected by multiple factors. Our aim was to analyze how different factors in TMS neuronavigation affect the accuracy and precision of the coil-head coregistration and the estimated E-field.Approach.By performing simulations, we estimated navigation errors due to distortions in magnetic resonance images (MRIs), head-to-MRI registration (landmark- and surface-based registrations), localization and movement of the head tracker, and localization of the coil tracker. We analyzed the effect of these errors on coil and head coregistration and on the induced E-field as determined with simplistic and realistic head models.Main results.Average total coregistration accuracies were in the range of 2.2-3.6 mm and 1°; precision values were about half of the accuracy values. The coregistration errors were mainly due to head-to-MRI registration with average accuracies 1.5-1.9 mm/0.2-0.4° and precisions 0.5-0.8 mm/0.1-0.2° better with surface-based registration. The other major source of error was the movement of the head tracker with average accuracy of 1.5 mm and precision of 1.1 mm. When assessed within an E-field method, the average accuracies of the peak E-field location, orientation, and magnitude ranged between 1.5 and 5.0 mm, 0.9 and 4.8°, and 4.4 and 8.5% across the E-field models studied. The largest errors were obtained with the landmark-based registration. When computing another accuracy measure with the most realistic E-field model as a reference, the accuracies tended to improve from about 10 mm/15°/25% to about 2 mm/2°/5% when increasing realism of the E-field model.Significance.The results of this comprehensive analysis help TMS operators to recognize the main sources of error in TMS navigation and that the coregistration errors and their effect in the E-field estimation depend on the methods applied. To ensure reliable TMS navigation, we recommend surface-based head-to-MRI registration and realistic models for E-field computations.
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Affiliation(s)
- Aino E Nieminen
- Department of Neuroscience and Biomedical Engineering, Aalto University School of Science, Espoo, Finland.,AMI Centre, Aalto NeuroImaging, Aalto University School of Science, Espoo, Finland
| | - Jaakko O Nieminen
- Department of Neuroscience and Biomedical Engineering, Aalto University School of Science, Espoo, Finland
| | - Matti Stenroos
- Department of Neuroscience and Biomedical Engineering, Aalto University School of Science, Espoo, Finland
| | - Pavel Novikov
- Department of Neuroscience and Biomedical Engineering, Aalto University School of Science, Espoo, Finland.,Centre for Cognition and Decision Making, Institute for Cognitive Neuroscience, National Research University Higher School of Economics, Moscow, Russia
| | - Maria Nazarova
- Department of Neuroscience and Biomedical Engineering, Aalto University School of Science, Espoo, Finland.,Centre for Cognition and Decision Making, Institute for Cognitive Neuroscience, National Research University Higher School of Economics, Moscow, Russia.,Athinoula A. Martinos Center for Biomedical Imaging, Massachusetts General Hospital, Charlestown, MA, United States of America
| | - Selja Vaalto
- Department of Neuroscience and Biomedical Engineering, Aalto University School of Science, Espoo, Finland.,HUS Diagnostic Center, Clinical Neurophysiology, Clinical Neurosciences, University of Helsinki and Helsinki University Hospital, Helsinki, Finland
| | - Vadim Nikulin
- Centre for Cognition and Decision Making, Institute for Cognitive Neuroscience, National Research University Higher School of Economics, Moscow, Russia.,Department of Neurology, Max Planck Institute for Human Cognitive and Brain Sciences, Leipzig, Germany
| | - Risto J Ilmoniemi
- Department of Neuroscience and Biomedical Engineering, Aalto University School of Science, Espoo, Finland
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Bopp MHA, Corr F, Saß B, Pojskic M, Kemmling A, Nimsky C. Augmented Reality to Compensate for Navigation Inaccuracies. SENSORS (BASEL, SWITZERLAND) 2022; 22:9591. [PMID: 36559961 PMCID: PMC9787763 DOI: 10.3390/s22249591] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 10/29/2022] [Revised: 11/22/2022] [Accepted: 12/05/2022] [Indexed: 06/17/2023]
Abstract
This study aims to report on the capability of microscope-based augmented reality (AR) to evaluate registration and navigation accuracy with extracranial and intracranial landmarks and to elaborate on its opportunities and obstacles in compensation for navigation inaccuracies. In a consecutive single surgeon series of 293 patients, automatic intraoperative computed tomography-based registration was performed delivering a high initial registration accuracy with a mean target registration error of 0.84 ± 0.36 mm. Navigation accuracy is evaluated by overlaying a maximum intensity projection or pre-segmented object outlines within the recent focal plane onto the in situ patient anatomy and compensated for by translational and/or rotational in-plane transformations. Using bony landmarks (85 cases), there was two cases where a mismatch was seen. Cortical vascular structures (242 cases) showed a mismatch in 43 cases and cortex representations (40 cases) revealed two inaccurate cases. In all cases, with detected misalignment, a successful spatial compensation was performed (mean correction: bone (6.27 ± 7.31 mm), vascular (3.00 ± 1.93 mm, 0.38° ± 1.06°), and cortex (5.31 ± 1.57 mm, 1.75° ± 2.47°)) increasing navigation accuracy. AR support allows for intermediate and straightforward monitoring of accuracy, enables compensation of spatial misalignments, and thereby provides additional safety by increasing overall accuracy.
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Affiliation(s)
- Miriam H. A. Bopp
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany
- Center for Mind, Brain and Behavior (CMBB), 35043 Marburg, Germany
| | - Felix Corr
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany
- EDU Institute of Higher Education, Villa Bighi, Chaplain’s House, KKR 1320 Kalkara, Malta
| | - Benjamin Saß
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany
| | - Mirza Pojskic
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany
| | - André Kemmling
- Department of Neuroradiology, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany
| | - Christopher Nimsky
- Department of Neurosurgery, University of Marburg, Baldingerstrasse, 35043 Marburg, Germany
- Center for Mind, Brain and Behavior (CMBB), 35043 Marburg, Germany
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5
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Aguilar-Salinas P, Gutierrez-Aguirre SF, Avila MJ, Nakaji P. Current status of augmented reality in cerebrovascular surgery: a systematic review. Neurosurg Rev 2022; 45:1951-1964. [PMID: 35149900 DOI: 10.1007/s10143-022-01733-3] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/01/2021] [Revised: 12/01/2021] [Accepted: 01/05/2022] [Indexed: 12/29/2022]
Abstract
Augmented reality (AR) is an adjuvant tool in neuronavigation to improve spatial and anatomic understanding. The present review aims to describe the current status of intraoperative AR for the treatment of cerebrovascular pathology. A systematic review was conducted following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. The following databases were searched: PubMed, Science Direct, Web of Science, and EMBASE up to December, 2020. The search strategy consisted of "augmented reality," "AR," "cerebrovascular," "navigation," "neurovascular," "neurosurgery," and "endovascular" in both AND and OR combinations. Studies included were original research articles with intraoperative application. The manuscripts were thoroughly examined for study design, outcomes, and results. Sixteen studies were identified describing the use of intraoperative AR in the treatment of cerebrovascular pathology. A total of 172 patients were treated for 190 cerebrovascular lesions using intraoperative AR. The most common treated pathology was intracranial aneurysms. Most studies were cases and there was only a case-control study. A head-up display system in the microscope was the most common AR display. AR was found to be useful for tailoring the craniotomy, dura opening, and proper identification of donor and recipient vessels in vascular bypass. Most AR systems were unable to account for tissue deformation. This systematic review suggests that intraoperative AR is becoming a promising and feasible adjunct in the treatment of cerebrovascular pathology. It has been found to be a useful tool in the preoperative planning and intraoperative guidance. However, its clinical benefits remain to be seen.
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Affiliation(s)
- Pedro Aguilar-Salinas
- Department of Neurosurgery, Banner University Medical Center, University of Arizona, Tucson, AZ, USA
| | | | - Mauricio J Avila
- Department of Neurosurgery, Banner University Medical Center, University of Arizona, Tucson, AZ, USA
| | - Peter Nakaji
- Department of Neurosurgery, Banner University Medical Center, University of Arizona, 755 E. McDowell Rd, Phoenix, AZ, 85006, USA.
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6
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Fick T, van Doormaal JAM, Hoving EW, Regli L, van Doormaal TPC. Holographic patient tracking after bed movement for augmented reality neuronavigation using a head-mounted display. Acta Neurochir (Wien) 2021; 163:879-884. [PMID: 33515122 PMCID: PMC7966201 DOI: 10.1007/s00701-021-04707-4] [Citation(s) in RCA: 17] [Impact Index Per Article: 5.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/26/2020] [Accepted: 01/04/2021] [Indexed: 11/27/2022]
Abstract
BACKGROUND Holographic neuronavigation has several potential advantages compared to conventional neuronavigation systems. We present the first report of a holographic neuronavigation system with patient-to-image registration and patient tracking with a reference array using an augmented reality head-mounted display (AR-HMD). METHODS Three patients undergoing an intracranial neurosurgical procedure were included in this pilot study. The relevant anatomy was first segmented in 3D and then uploaded as holographic scene in our custom neuronavigation software. Registration was performed using point-based matching using anatomical landmarks. We measured the fiducial registration error (FRE) as the outcome measure for registration accuracy. A custom-made reference array with QR codes was integrated in the neurosurgical setup and used for patient tracking after bed movement. RESULTS Six registrations were performed with a mean FRE of 8.5 mm. Patient tracking was achieved with no visual difference between the registration before and after movement. CONCLUSIONS This first report shows a proof of principle of intraoperative patient tracking using a standalone holographic neuronavigation system. The navigation accuracy should be further optimized to be clinically applicable. However, it is likely that this technology will be incorporated in future neurosurgical workflows because the system improves spatial anatomical understanding for the surgeon.
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Affiliation(s)
- T Fick
- Department of Neuro-oncology, Princess Máxima Center for Pediatric Oncology, Heidelberglaan 25, 3584, CS, Utrecht, The Netherlands.
| | - J A M van Doormaal
- Department of Oral and Maxillofacial surgery, University Medical Centre Utrecht, Heidelberglaan 100, 3584, CX, Utrecht, The Netherlands
| | - E W Hoving
- Department of Neuro-oncology, Princess Máxima Center for Pediatric Oncology, Heidelberglaan 25, 3584, CS, Utrecht, The Netherlands
- Department of Neurosurgery, University Medical Centre Utrecht, Heidelberglaan 100, 3584, CX, Utrecht, The Netherlands
| | - L Regli
- Department of Neurosurgery, Clinical Neuroscience Center, University Hospital Zurich, University of Zurich, Rämistrasse 100, 8091, Zürich, Switzerland
| | - T P C van Doormaal
- Department of Neurosurgery, University Medical Centre Utrecht, Heidelberglaan 100, 3584, CX, Utrecht, The Netherlands
- Department of Neurosurgery, Clinical Neuroscience Center, University Hospital Zurich, University of Zurich, Rämistrasse 100, 8091, Zürich, Switzerland
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Fernandes de Oliveira Santos B, de Araujo Paz D, Fernandes VM, Dos Santos JC, Chaddad-Neto FEA, Sousa ACS, Oliveira JLM. Minimally invasive supratentorial neurosurgical approaches guided by Smartphone app and compass. Sci Rep 2021; 11:6778. [PMID: 33762597 PMCID: PMC7991647 DOI: 10.1038/s41598-021-85472-3] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/13/2020] [Accepted: 03/02/2021] [Indexed: 01/19/2023] Open
Abstract
The precise location in the scalp of specifically planned points can help to achieve less invasive approaches. This study aims to develop a smartphone app, evaluate the precision and accuracy of the developed tool, and describe a series of cases using the referred technique. The application was developed with the React Native framework for Android and iOS. A phantom was printed based on the patient's CT scan, which was used for the calculation of accuracy and precision of the method. The points of interest were marked with an "x" on the patient's head, with the aid of the app and a compass attached to a skin marker pen. Then, two experienced neurosurgeons checked the plausibility of the demarcations based on the anatomical references. Both evaluators marked the frontal, temporal and parietal targets with a difference of less than 5 mm from the corresponding intended point, in all cases. The overall average accuracy observed was 1.6 ± 1.0 mm. The app was used in the surgical planning of trepanations for ventriculoperitoneal (VP) shunts and for drainage of abscesses, and in the definition of craniotomies for meningiomas, gliomas, brain metastases, intracranial hematomas, cavernomas, and arteriovenous malformation. The sample consisted of 88 volunteers who exhibited the following pathologies: 41 (46.6%) had brain tumors, 17 (19.3%) had traumatic brain injuries, 16 (18.2%) had spontaneous intracerebral hemorrhages, 2 (2.3%) had cavernomas, 1 (1.1%) had arteriovenous malformation (AVM), 4 (4.5%) had brain abscesses, and 7 (7.9%) had a VP shunt placement. In cases approached by craniotomy, with the exception of AVM, straight incisions and minicraniotomy were performed. Surgical planning with the aid of the NeuroKeypoint app is feasible and reliable. It has enabled neurological surgeries by craniotomy and trepanation in an accurate, precise, and less invasive manner.
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Affiliation(s)
- Bruno Fernandes de Oliveira Santos
- Health Sciences Graduate Program, Federal University of Sergipe, Aracaju, SE, Brazil. .,Unimed Sergipe Hospital, Aracaju, SE, Brazil. .,Clinic and Hospital São Lucas / Rede D`Or São Luiz, Aracaju, SE, Brazil. .,Department of Neurosurgery, Hospital de Cirurgia, Aracaju, SE, Brazil.
| | - Daniel de Araujo Paz
- Department of Neurology and Neurosurgery, Universidade Federal de São Paulo, São Paulo, SP, Brazil
| | | | | | | | - Antonio Carlos Sobral Sousa
- Health Sciences Graduate Program, Federal University of Sergipe, Aracaju, SE, Brazil.,Department of Internal Medicine, Federal University of Sergipe, Aracaju, SE, Brazil.,Division of Cardiology, University Hospital, Federal University of Sergipe, Aracaju, SE, Brazil.,Clinic and Hospital São Lucas / Rede D`Or São Luiz, Aracaju, SE, Brazil
| | - Joselina Luzia Menezes Oliveira
- Health Sciences Graduate Program, Federal University of Sergipe, Aracaju, SE, Brazil.,Department of Internal Medicine, Federal University of Sergipe, Aracaju, SE, Brazil.,Division of Cardiology, University Hospital, Federal University of Sergipe, Aracaju, SE, Brazil.,Clinic and Hospital São Lucas / Rede D`Or São Luiz, Aracaju, SE, Brazil
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Machetanz K, Grimm F, Schuhmann M, Tatagiba M, Gharabaghi A, Naros G. Time Efficiency in Stereotactic Robot-Assisted Surgery: An Appraisal of the Surgical Procedure and Surgeon's Learning Curve. Stereotact Funct Neurosurg 2020; 99:25-33. [PMID: 33017833 DOI: 10.1159/000510107] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/24/2020] [Accepted: 07/11/2020] [Indexed: 11/19/2022]
Abstract
BACKGROUND Frame-based stereotactic procedures are still the gold standard in neurosurgery. However, there is an increasing interest in robot-assisted technologies. Introducing these increasingly complex tools in the clinical setting raises the question about the time efficiency of the system and the essential learning curve of the surgeon. METHODS This retrospective study enrolled a consecutive series of patients undergoing a robot-assisted procedure after first system installation at one institution. All procedures were performed by the same neurosurgeon to capture the learning curve. The objective read-out were the surgical procedure time (SPT), the skin-to-skin time, and the intraoperative registration time (IRT) after laser surface registration (LSR), bone fiducial registration (BFR), and skin fiducial registration (SFR), as well as the quality of the registration (as measured by the fiducial registration error [FRE]). The time measures were compared to those for a patient group undergoing classic frame-based stereotaxy. RESULTS In the first 7 months, we performed 31 robot-assisted surgeries (26 biopsies, 3 stereotactic electroencephalography [SEEG] implantations, and 2 endoscopic procedures). The SPT was depending on the actual type of surgery (biopsies: 85.0 ± 36.1 min; SEEG: 154.9 ± 75.9 min; endoscopy: 105.5 ± 1.1 min; p = 0.036). For the robot-assisted biopsies, there was a significant reduction in SPT within the evaluation period, reaching the level of frame-based surgeries (58.1 ± 17.9 min; p < 0.001). The IRT was depending on the applied registration method (LSR: 16.7 ± 2.3 min; BFR: 3.5 ± 1.1 min; SFR: 3.5 ± 1.6 min; p < 0.001). In contrast to BFR and SFR, there was a significant reduction in LSR time during that period (p = 0.038). The FRE differed between the applied registration methods (LSR: 0.60 ± 0.17 mm; BFR: 0.42 ± 0.15 mm; SFR: 2.17 ± 0.78 mm; p < 0.001). There was a significant improvement in LSR quality during the evaluation period (p = 0.035). CONCLUSION Introducing stereotactic, robot-assisted surgery in an established clinical setting initially necessitates a prolonged intraoperative preparation time. However, there is a steep learning curve during the first cases, reaching the time level of classic frame-based stereotaxy. Thus, a stereotactic robot can be integrated into daily routine within a decent period of time, thereby expanding the neurosurgeons' armamentarium, especially for procedures with multiple trajectories.
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Affiliation(s)
- Kathrin Machetanz
- Department of Neurosurgery, Eberhardt Karls University of Tübingen, Tübingen, Germany.,Division of Functional and Restorative Neurosurgery, Department of Neurosurgery, Eberhard Karls University of Tübingen, Tübingen, Germany
| | - Florian Grimm
- Department of Neurosurgery, Eberhardt Karls University of Tübingen, Tübingen, Germany.,Division of Functional and Restorative Neurosurgery, Department of Neurosurgery, Eberhard Karls University of Tübingen, Tübingen, Germany
| | - Martin Schuhmann
- Department of Neurosurgery, Eberhardt Karls University of Tübingen, Tübingen, Germany
| | - Marcos Tatagiba
- Department of Neurosurgery, Eberhardt Karls University of Tübingen, Tübingen, Germany
| | - Alireza Gharabaghi
- Department of Neurosurgery, Eberhardt Karls University of Tübingen, Tübingen, Germany.,Division of Functional and Restorative Neurosurgery, Department of Neurosurgery, Eberhard Karls University of Tübingen, Tübingen, Germany
| | - Georgios Naros
- Department of Neurosurgery, Eberhardt Karls University of Tübingen, Tübingen, Germany, .,Division of Functional and Restorative Neurosurgery, Department of Neurosurgery, Eberhard Karls University of Tübingen, Tübingen, Germany,
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sEVD-smartphone-navigated placement of external ventricular drains. Acta Neurochir (Wien) 2020; 162:513-521. [PMID: 31761975 PMCID: PMC7046572 DOI: 10.1007/s00701-019-04131-9] [Citation(s) in RCA: 18] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/27/2019] [Accepted: 11/01/2019] [Indexed: 11/03/2022]
Abstract
BACKGROUND Currently, the trajectory for insertion of an external ventricular drain (EVD) is mainly determined using anatomical landmarks. However, non-assisted implantations frequently require multiple attempts and are associated with EVD malpositioning and complications. The authors evaluated the feasibility and accuracy of a novel smartphone-guided, angle-adjusted technique for assisted implantations of an EVD (sEVD) in both a human artificial head model and a cadaveric head. METHODS After computed tomography (CT), optimal insertion angles and lengths of intracranial trajectories of the EVDs were determined. A smartphone was calibrated to the mid-cranial sagittal line. Twenty EVDs were placed using both the premeasured data and smartphone-adjusted insertion angles, targeting the center of the ipsilateral ventricular frontal horn. The EVD positions were verified with post-interventional CT. RESULTS All 20 sEVDs (head model, 8/20; cadaveric head, 12/20) showed accurate placement in the ipsilateral ventricle. The sEVD tip locations showed a mean target deviation of 1.73° corresponding to 12 mm in the plastic head model, and 3.45° corresponding to 33 mm in the cadaveric head. The mean duration of preoperative measurements on CT data was 3 min, whereas sterile packing, smartphone calibration, drilling, and implantation required 9 min on average. CONCLUSIONS By implementation of an innovative navigation technique, a conventional smartphone was used as a protractor for the insertion of EVDs. Our ex vivo data suggest that smartphone-guided EVD placement offers a precise, rapidly applicable, and patient-individualized freehand technique based on a standard procedure with a simple, cheap, and widely available multifunctional device.
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Maschke S, Martínez-Moreno M, Micko A, Millesi M, Minchev G, Mallouhi A, Knosp E, Wolfsberger S. Challenging the osseous component of sphenoorbital meningiomas. Acta Neurochir (Wien) 2019; 161:2241-2251. [PMID: 31368053 PMCID: PMC6820812 DOI: 10.1007/s00701-019-04015-y] [Citation(s) in RCA: 10] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/08/2019] [Accepted: 07/12/2019] [Indexed: 12/19/2022]
Abstract
Background Intraosseous growth is a unique feature of sphenoorbital meningiomas (SOM). Its close relation to neurovascular structures limits complete surgical resection and possibly contributes to the high recurrence rate. Objective To evaluate the growth behavior of intraosseous remnants and develop a protocol for precise intraoperative visualization of intraosseous SOM. Methods We included 31 patients operated for SOM from 2004 to 2017. The growth velocity of the intraosseous tumor component was volumetrically calculated in 20 cases. To improve accuracy of image guidance, we implemented a specialized bone surface-based registration algorithm. For intraoperative bone visualization, we included CT in multimodality continuous image guidance in 23 patients. The extent of resection (EOR) was compared with a standard MR-only navigation group (n = 8). Results In 11/20 cases (55%), a progressive regrowth of the intraosseous SOM remnant was noted during a mean follow-up of 52 months (range 20–132 months). We observed a mean increase of 6.2 cm3 (range 0.2–23.7 cm3) per patient and side during the follow-up period. Bone surface-based registration was significantly more accurate than skin surface-based registration (mean 0.7 ± 0.4 mm and 1.9 ± 0.7 mm, p < 0.001). The EOR of the intraosseous component was significantly higher using CT + MRI navigation compared with controls (96% vs. 81%, p = 0.044). Conclusion Quantitative assessment of the biological behavior of intraosseous remnants revealed a continuous slow growth rate independent of the soft tumor component of more than half of SOM. According to our data, application of a multimodal image guidance provided high accuracy and significantly increased the resection rate of the intraosseous component of SOM.
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Affiliation(s)
- Svenja Maschke
- Department of Neurosurgery, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria
| | - Mauricio Martínez-Moreno
- Department of Neurosurgery, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria
| | - Alexander Micko
- Department of Neurosurgery, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria
| | - Matthias Millesi
- Department of Neurosurgery, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria
| | - Georgi Minchev
- Department of Neurosurgery, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria
| | - Ammar Mallouhi
- Department of Biomedical Imaging and Image-guided Therapy, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria
| | - Engelbert Knosp
- Department of Neurosurgery, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria
| | - Stefan Wolfsberger
- Department of Neurosurgery, Medical University of Vienna, Waehringer Guertel 18-20, 1080, Vienna, Austria.
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Mongen MA, Willems PWA. Current accuracy of surface matching compared to adhesive markers in patient-to-image registration. Acta Neurochir (Wien) 2019; 161:865-870. [PMID: 30879130 PMCID: PMC6483968 DOI: 10.1007/s00701-019-03867-8] [Citation(s) in RCA: 26] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/01/2019] [Accepted: 03/03/2019] [Indexed: 11/28/2022]
Abstract
Object In the past, the accuracy of surface matching has been shown to be disappointing. We aimed to determine whether this had improved over the years by assessing application accuracy of current navigation systems, using either surface matching or point-pair matching. Methods Eleven patients, scheduled for intracranial surgery, were included in this study after a power analysis had shown this small number to be sufficient. Prior to surgery, one additional fiducial marker was placed on the scalp, the “target marker,” where the entry point of surgery was to be expected. Using one of three different navigation systems, two patient-to-image registration procedures were performed: one based on surface matching and one based on point-pair matching. Each registration procedure was followed by the digitization of the target marker’s location, allowing calculation of the target registration error. If the system offered surface matching improvement, this was always used; and for the two systems that routinely offer an estimate of neuronavigation accuracy, this was also recorded. Results The error in localizing the target marker using point-pair matching or surface matching was respectively 2.49 mm and 5.35 mm, on average (p < 0.001). In those four cases where an attempt was made to improve the surface matching, the error increased to 6.35 mm, on average. For the seven cases where the system estimated accuracy, this estimate did not correlate with target registration error (R2 = 0.04, p = 0.67). Conclusion The accuracy of navigation systems has not improved over the last decade, with surface matching consistently yielding errors that are twice as large as when point-pair matching with adhesive markers is used. These errors are not reliably reflected by the systems own prediction, when offered. These results are important to make an informed choice between image-to-patient registration strategies, depending on the type of surgery at hand.
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Affiliation(s)
- Mireli A Mongen
- Department of Neurosurgery, Leiden University Medical Center, Leiden, The Netherlands
| | - Peter W A Willems
- Departmesnt of Neurosurgery, University Medical Center Utrecht, Internal Postage G03.124, PO-box 85500, 3584 CX, Utrecht, The Netherlands.
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Intraoperative computed tomography as reliable navigation registration device in 200 cranial procedures. Acta Neurochir (Wien) 2018; 160:1681-1689. [PMID: 30051160 DOI: 10.1007/s00701-018-3641-6] [Citation(s) in RCA: 19] [Impact Index Per Article: 3.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/22/2018] [Accepted: 07/20/2018] [Indexed: 10/28/2022]
Abstract
BACKGROUND Registration accuracy is a main factor influencing overall navigation accuracy. Standard fiducial- or landmark-based patient registration is user dependent and error-prone. Intraoperative imaging offers the possibility for user-independent patient registration. The aim of this paper is to evaluate our initial experience applying intraoperative computed tomography (CT) for navigation registration in cranial neurosurgery, with a special focus on registration accuracy and effective radiation dose. METHODS A total of 200 patients (141 craniotomy, 19 transsphenoidal, and 40 stereotactic burr hole procedures) were investigated by intraoperative CT applying a 32-slice movable CT scanner, which was used for automatic navigation registration. Registration accuracy was measured by at least three skin fiducials that were not part of the registration process. RESULTS Automatic registration resulted in high registration accuracy (mean registration error: 0.93 ± 0.41 mm). Implementation of low-dose scanning protocols did not impede registration accuracy (registration error applying the full dose head protocol: 0.87 ± 0.36 mm vs. the low dose sinus protocol 0.72 ± 0.43 mm) while a reduction of the effective radiation dose by a factor of 8 could be achieved (mean effective radiation dose head protocol: 2.73 mSv vs. sinus protocol: 0.34 mSv). CONCLUSION Intraoperative CT allows highly reliable navigation registration with low radiation exposure.
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Soteriou E, Grauvogel J, Laszig R, Grauvogel TD. Prospects and limitations of different registration modalities in electromagnetic ENT navigation. Eur Arch Otorhinolaryngol 2016; 273:3979-3986. [PMID: 27149874 DOI: 10.1007/s00405-016-4063-9] [Citation(s) in RCA: 21] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 10/26/2015] [Accepted: 04/19/2016] [Indexed: 01/03/2023]
Abstract
The present study examined electromagnetic tracking technology for ENT navigation. Five different registration modalities were compared and navigation accuracy was assessed. Four skull models were individually fabricated with a three-dimensional printer, based on patients' computer tomography datasets. Individual silicone masks were fitted for skin and soft tissue simulation. Five registration modalities were examined: (1) invasive marker, (2) automatic, (3) surface matching (AccuMatch), (4) anatomic landmarks, and (5) oral splint registration. Overall navigation accuracy and accuracy on selected anatomic locations were assessed by targeting 26 titanium screws previously placed over the skull. Overall navigation accuracy differed significantly between all registration modalities. The target registration error was 0.94 ± 0.06 mm (quadratic mean ± standard deviation) for the invasive marker registration, 1.41 ± 0.04 mm for the automatic registration, 1.59 ± 0.14 mm for the surface matching registration, and 5.15 ± 0.66 mm (four landmarks) and 4.37 ± 0.73 mm (five landmarks) for the anatomic landmark registration. Oral splint registration proved itself to be inapplicable to this navigation system. Invasive marker registration was superior on most selected anatomic locations. However, on the ethmoid and sphenoid sinus the automatic registration process revealed significantly lower target registration error values. Only automatic and surface registration met the accuracy requirements for noninvasive registration. Particularly, the automatic image-to-world registration reaches target registration error values on the anterior skull base which are comparable with the gold standard of invasive screw registration.
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Affiliation(s)
- Eric Soteriou
- Department of Otorhinolaryngology-Head and Neck Surgery, Albert-Ludwigs-University Medical School Freiburg, Killianstr. 5, 79106, Freiburg, Germany
| | - Juergen Grauvogel
- Department of Neurosurgery, Albert-Ludwigs-University Medical School Freiburg, Freiburg, Germany
| | - Roland Laszig
- Department of Otorhinolaryngology-Head and Neck Surgery, Albert-Ludwigs-University Medical School Freiburg, Killianstr. 5, 79106, Freiburg, Germany
| | - Tanja Daniela Grauvogel
- Department of Otorhinolaryngology-Head and Neck Surgery, Albert-Ludwigs-University Medical School Freiburg, Killianstr. 5, 79106, Freiburg, Germany.
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Dolati P, Gokoglu A, Eichberg D, Zamani A, Golby A, Al-Mefty O. Multimodal navigated skull base tumor resection using image-based vascular and cranial nerve segmentation: A prospective pilot study. Surg Neurol Int 2015; 6:172. [PMID: 26674155 PMCID: PMC4665134 DOI: 10.4103/2152-7806.170023] [Citation(s) in RCA: 25] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/13/2015] [Accepted: 08/31/2015] [Indexed: 12/03/2022] Open
Abstract
Background: Skull base tumors frequently encase or invade adjacent normal neurovascular structures. For this reason, optimal tumor resection with incomplete knowledge of patient anatomy remains a challenge. Methods: To determine the accuracy and utility of image-based preoperative segmentation in skull base tumor resections, we performed a prospective study. Ten patients with skull base tumors underwent preoperative 3T magnetic resonance imaging, which included thin section three-dimensional (3D) space T2, 3D time of flight, and magnetization-prepared rapid acquisition gradient echo sequences. Imaging sequences were loaded in the neuronavigation system for segmentation and preoperative planning. Five different neurovascular landmarks were identified in each case and measured for accuracy using the neuronavigation system. Each segmented neurovascular element was validated by manual placement of the navigation probe, and errors of localization were measured. Results: Strong correspondence between image-based segmentation and microscopic view was found at the surface of the tumor and tumor-normal brain interfaces in all cases. The accuracy of the measurements was 0.45 ± 0.21 mm (mean ± standard deviation). This information reassured the surgeon and prevented vascular injury intraoperatively. Preoperative segmentation of the related cranial nerves was possible in 80% of cases and helped the surgeon localize involved cranial nerves in all cases. Conclusion: Image-based preoperative vascular and neural element segmentation with 3D reconstruction is highly informative preoperatively and could increase the vigilance of neurosurgeons for preventing neurovascular injury during skull base surgeries. Additionally, the accuracy found in this study is superior to previously reported measurements. This novel preliminary study is encouraging for future validation with larger numbers of patients.
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Affiliation(s)
- Parviz Dolati
- Department of Neurosurgery, Harvard Medical School, Brigham and Women's Hospital, Boston, Massachusetts, USA
| | - Abdulkerim Gokoglu
- Department of Neurosurgery, Harvard Medical School, Brigham and Women's Hospital, Boston, Massachusetts, USA
| | - Daniel Eichberg
- Department of Neurosurgery, Harvard Medical School, Brigham and Women's Hospital, Boston, Massachusetts, USA
| | - Amir Zamani
- Department of Neurosurgery, Harvard Medical School, Brigham and Women's Hospital, Boston, Massachusetts, USA
| | - Alexandra Golby
- Department of Neurosurgery, Harvard Medical School, Brigham and Women's Hospital, Boston, Massachusetts, USA
| | - Ossama Al-Mefty
- Department of Neurosurgery, Harvard Medical School, Brigham and Women's Hospital, Boston, Massachusetts, USA
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Nowell M, Rodionov R, Diehl B, Wehner T, Zombori G, Kinghorn J, Ourselin S, Duncan J, Miserocchi A, McEvoy A. A novel method for implementation of frameless StereoEEG in epilepsy surgery. Neurosurgery 2015; 10 Suppl 4:525-33; discussion 533-4. [PMID: 25161004 PMCID: PMC4224568 DOI: 10.1227/neu.0000000000000544] [Citation(s) in RCA: 48] [Impact Index Per Article: 5.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/19/2022] Open
Abstract
BACKGROUND: Stereoelectroencephalography (SEEG) is an invasive diagnostic procedure in epilepsy surgery that is usually implemented with frame-based methods. OBJECTIVE: To describe a new technique of frameless SEEG and report a prospective case series at a single center. METHODS: Image integration and planning of electrode trajectories were performed preoperatively on specialized software and exported to a Medtronic S7 StealthStation. Trajectories were implemented by frameless stereotaxy using percutaneous drilling and bolt insertion. RESULTS: Twenty-two patients went this technique, with the insertion of 187 intracerebral electrodes. Of 187 electrodes, 175 accurately reached their neurophysiological target, as measured by postoperative computed tomography reconstruction and multimodal image integration with preoperative magnetic resonance imaging. Four electrodes failed to hit their target due to extradural deflection, and 3 were subsequently resited satisfactorily. Eight electrodes were off target by a mean of 3.6 mm (range, 0.9-6.8 mm) due to a combination of errors in bolt trajectory implementation and bending of the electrode. There was 1 postoperative hemorrhage that was clinically asymptomatic and no postoperative infections. Sixteen patients were offered definitive cortical resections, and 6 patients were excluded from resective surgery. CONCLUSION: Frameless SEEG is a novel and safe method for implementing SEEG and is easily translated into clinical practice. ABBREVIATIONS: EA, accuracy of electrode delivery SEEG, stereoelectroencephalography
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Affiliation(s)
- Mark Nowell
- *Department of Clinical and Experimental Epilepsy, UCL Institute of Neurology, London, United Kingdom; ‡Epilepsy Society, MRI Unit, Chalfont St. Peter, United Kingdom; §Department of Neurosurgery, National Hospital for Neurology and Neurosurgery, London, United Kingdom; ¶Centre of Medical Imaging and Computing, UCL, London, United Kingdom
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Lefranc M, Capel C, Pruvot AS, Fichten A, Desenclos C, Toussaint P, Le Gars D, Peltier J. The Impact of the Reference Imaging Modality, Registration Method and Intraoperative Flat-Panel Computed Tomography on the Accuracy of the ROSA® Stereotactic Robot. Stereotact Funct Neurosurg 2014; 92:242-50. [DOI: 10.1159/000362936] [Citation(s) in RCA: 86] [Impact Index Per Article: 8.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/18/2013] [Accepted: 04/13/2014] [Indexed: 11/19/2022]
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Salma A, Makiese O, Sammet S, Ammirati M. Effect of registration mode on neuronavigation precision: an exploration of the role of random error. ACTA ACUST UNITED AC 2012; 17:172-8. [PMID: 22681460 DOI: 10.3109/10929088.2012.691992] [Citation(s) in RCA: 9] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/01/2023]
Abstract
The aim of this paper is to analyze the variations in registration accuracy for computer-assisted surgical navigation using three different modes of registration, in order to explore the behavior of random error, and to highlight the precision of neuronavigation as a concept distinct from accuracy. The operational accuracy of three different registration modes (bone fiducials, scalp adhesive fiducials and an auto-registration mask) was evaluated in a total of 20 fresh cadaveric heads. The precision of the neuronavigation system was then assessed by evaluating the variation in the accuracy measurements associated with each registration mode. The coefficient of variation was employed to quantify the degree of variation in the attained accuracy using the following formula: Coefficient of variation = standard deviation/mean * 100. For external targets, the precision of the neuronavigation system was greatest with mask registration (43.75 and 51.41 for anterior and posterior external targets, respectively) and lowest with bone registration (65.30 and 67.17 for anterior and posterior external targets, respectively). For internal targets, the precision of the neuronavigation system was greatest with bone registration (47.69 and 42.6 for anterior and posterior internal targets, respectively) and lowest with mask registration (62.9 and 58.67 for anterior and posterior internal targets, respectively). The precision (reproducibility) of the neuronavigation system is another important quantity besides accuracy that characterizes the performance of the system. Understanding both of these quantities for a given registration mode enhances the use of a neuronavigation system in neurosurgery.
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Affiliation(s)
- Asem Salma
- Department of Neurological Surgery, Ohio State University Medical Center, Columbus, USA
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Ledderose GJ, Hagedorn H, Spiegl K, Leunig A, Stelter K. Image guided surgery of the lateral skull base: Testing a new dental splint registration device. ACTA ACUST UNITED AC 2011; 17:13-20. [DOI: 10.3109/10929088.2011.632783] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022]
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Paraskevopoulos D, Unterberg A, Metzner R, Dreyhaupt J, Eggers G, Wirtz CR. Comparative study of application accuracy of two frameless neuronavigation systems: experimental error assessment quantifying registration methods and clinically influencing factors. Neurosurg Rev 2011; 34:217-28. [PMID: 21246391 DOI: 10.1007/s10143-010-0302-5] [Citation(s) in RCA: 30] [Impact Index Per Article: 2.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/27/2010] [Revised: 10/12/2010] [Accepted: 11/10/2010] [Indexed: 10/18/2022]
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New prototype neuronavigation system based on preoperative imaging and intraoperative freehand ultrasound: system description and validation. Int J Comput Assist Radiol Surg 2010; 6:507-22. [PMID: 20886304 DOI: 10.1007/s11548-010-0535-3] [Citation(s) in RCA: 38] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/08/2010] [Accepted: 09/13/2010] [Indexed: 10/19/2022]
Abstract
PURPOSE The aim of this report is to present IBIS (Interactive Brain Imaging System) NeuroNav, a new prototype neuronavigation system that has been developed in our research laboratory over the past decade that uses tracked intraoperative ultrasound to address surgical navigation issues related to brain shift. The unique feature of the system is its ability, when needed, to improve the initial patient-to-preoperative image alignment based on the intraoperative ultrasound data. Parts of IBIS Neuronav source code are now publicly available on-line. METHODS Four aspects of the system are characterized in this paper: the ultrasound probe calibration, the temporal calibration, the patient-to-image registration and the MRI-ultrasound registration. In order to characterize its real clinical precision and accuracy, the system was tested in a series of adult brain tumor cases. RESULTS Three metrics were computed to evaluate the precision and accuracy of the ultrasound calibration. 1) Reproducibility: 1.77 mm and 1.65 mm for the bottom corners of the ultrasound image, 2) point reconstruction precision 0.62-0.90 mm: and 3) point reconstruction accuracy: 0.49-0.74 mm. The temporal calibration error was estimated to be 0.82 ms. The mean fiducial registration error (FRE) of the homologous-point-based patient-to-MRI registration for our clinical data is 4.9 ± 1.1 mm. After the skin landmark-based registration, the mean misalignment between the ultrasound and MR images in the tumor region is 6.1 ± 3.4 mm. CONCLUSIONS The components and functionality of a new prototype system are described and its precision and accuracy evaluated. It was found to have an accuracy similar to other comparable systems in the literature.
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Image-guided surgical planning using anatomical landmarks in the retrosigmoid approach. Acta Neurochir (Wien) 2010; 152:905-10. [PMID: 19902141 DOI: 10.1007/s00701-009-0553-5] [Citation(s) in RCA: 47] [Impact Index Per Article: 3.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/10/2009] [Accepted: 10/19/2009] [Indexed: 10/20/2022]
Abstract
OBJECTIVE The suboccipital lateral or retrosigmoid approach is the main neurosurgical approach to the cerebellopontine angle (CPA). It is mainly used in the treatment of CPA tumors and vascular decompression of cranial nerves. A prospective study using navigation registered with anatomical landmarks in order to identify the transverse and sigmoid sinuses junction (TSSJ) was carried out in a series of 30 retrosigmoid craniotomies. The goal of this study was to determine the accuracy of this navigation technique and to establish the relationship between the location of the asterion and the TSSJ. METHODS From March through November 2008, 30 patients underwent a retrosigmoid craniotomy for removal of CPA tumors or for surgical treatment of neurovascular syndromes. Magnetic resonance imaging (MRI) T1 sequences with gadolinium (FSPGR with FatSst, 1.5 T GE Signa) and frameless navigation (Vector vision, Brainlab) were used for surgical planning. Registration was performed using six anatomical landmarks. The position of the TSSJ indicated by navigation was the landmark to guide the craniotomy. The location of the asterion was compared with the position of the TSSJ. After craniotomy, the real TSSJ position was compared with the virtual position, as demonstrated by navigation. RESULTS There were 19 cases of vestibular schwannomas, 5 petroclival meningiomas, 3 trigeminal neuralgias, 1 angioblastoma, 1 epidermoid cyst and 1 hemifacial spasm. In all cases, navigation enabled the location of the TSSJ and the emissary vein, with an accuracy flaw below 2 mm. The asterion was located directly over the TSSJ in only seven cases. One patient had a laceration of the sigmoid sinus during the craniotomy. CONCLUSIONS Navigation using anatomical landmarks for registration is a reliable method in the localization of the TSSJ for retrosigmoid craniotomies and thereby avoiding unnecessary sinus exposure. In addition, the method proved to be fast and accurate. The asterion was found to be a less accurate landmark for the localization of the TSSJ using navigation.
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Rozen WM, Buckland A, Ashton MW, Stella DL, Phillips TJ, Taylor GI. Image-guided, stereotactic perforator flap surgery: a prospective comparison of current techniques and review of the literature. Surg Radiol Anat 2009; 31:401-8. [PMID: 19159056 DOI: 10.1007/s00276-008-0457-8] [Citation(s) in RCA: 7] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/01/2008] [Accepted: 12/10/2008] [Indexed: 10/21/2022]
Abstract
BACKGROUND Image-guided stereotaxy is a recent advancement in imaging technology, allowing computer guidance to aid surgical planning and accuracy. Despite the use of multiple techniques for patient registration in several surgical specialities, only fiducial marker registration has been described for use in soft tissue reconstructive surgery. The current study comprises an evaluation of the current techniques available for this purpose. METHODS A cohort of nine consecutive patients planned for elective free flaps were recruited, with the first five patients (four for the abdominal wall and one anterolateral thigh donor site) undergoing fiducial marker registration with a variable number of fiducial markers in order to determine the optimal number of fiducial markers to be used. Four subsequent patients undergoing perforator flap surgery underwent registration using three available registration modalities: fiducial marker registration, surface matching pointer/landmark and surface matching laser registration. RESULTS For the abdominal wall, registration was not able to be achieved with five fiducial markers, and was successfully achieved in all cases with either six or seven fiducial markers. For the anterolateral thigh, registration was achieved with either nine or ten markers. The four patients who also underwent surface-landmark registration and 'Z-touch' laser surface matching registration all failed the registration process. CONCLUSION Stereotactic navigation is a useful adjunct to the preoperative imaging of perforator flaps. Fiducial marker registration was able to be achieved in all cases, can be successfully achieved with a low and predictable number of fiducial markers, is highly accurate, and was the only reliable registration process in our experience.
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Affiliation(s)
- W M Rozen
- Department of Anatomy and Cell Biology, Jack Brockhoff Reconstructive Plastic Surgery Research Unit, The University of Melbourne, Parkville, VIC 3050, Australia.
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