Premium
Feasibility study for image‐guided kidney surgery: Assessment of required intraoperative surface for accurate physical to image space registrations
Author(s) -
Benincasa Anne B.,
Clements Logan W.,
Herrell S. Duke,
Galloway Robert L.
Publication year - 2008
Publication title -
medical physics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.473
H-Index - 180
eISSN - 2473-4209
pISSN - 0094-2405
DOI - 10.1118/1.2969064
Subject(s) - imaging phantom , fiducial marker , surface (topology) , nephrectomy , image guided surgery , medical imaging , curvature , artificial intelligence , computer vision , medicine , mathematics , computer science , radiology , geometry , kidney , endocrinology
A notable complication of applying current image‐guided surgery techniques of soft tissue to kidney resections (nephrectomies) is the limited field of view of the intraoperative kidney surface. This limited view constrains the ability to obtain a sufficiently geometrically descriptive surface for accurate surface‐based registrations. The authors examined the effects of the limited view by using two orientations of a kidney phantom to model typical laparoscopic and open partial nephrectomy views. Point‐based registrations, using either rigidly attached markers or anatomical landmarks as fiducials, served as initial alignments for surface‐based registrations. Laser range scanner (LRS) obtained surfaces were registered to the phantom's image surface using a rigid iterative closest point algorithm. Subsets of each orientation's LRS surface were used in a robustness test to determine which parts of the surface yield the most accurate registrations. Results suggest that obtaining accurate registrations is a function of the percentage of the total surface and of geometric surface properties, such as curvature. Approximately 28% of the total surface is required regardless of the location of that surface subset. However, that percentage decreases when the surface subset contains information from opposite ends of the surface and/or unique anatomical features, such as the renal artery and vein.