Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept Study - Archive ouverte HAL Access content directly
Journal Articles International Journal of Computer Assisted Radiology and Surgery Year : 2020

Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept Study

Abstract

Purpose: Surgical treatments for low rectal cancer require carefulconsiderations due to the low location of cancer in rectums. Successful sur-gical outcomes highly depend on surgeons' ability to determine clear distalmargins of rectal tumors. This is a challenge for surgeons in robot-assistedlaparoscopic surgery, since tumors are often concealed in rectums and roboticsurgical instruments do not provide tactile feedback for tissue diagnosis inreal-time. This paper presents the development and evaluation of an intraop-erative ultrasound-based augmented reality framework for surgical guidancein robot-assisted rectal surgery. Methods: Framework implementation consistsin calibrating the transrectal ultrasound (TRUS) and the endoscopic camera(hand-eye calibration), generating a virtual model and registering it to theendoscopic image via optical tracking, and displaying the augmented view ona head-mounted display. An experimental validation setup is designed to eval-uate the framework. Results: The evaluation process yields a mean error of0:9 mm for the TRUS calibration, a maximum error of 0:51 mm for the hand-eye calibration of endoscopic cameras, and a maximum RMS error of 0:8 mmfor the whole framework. In the experiment with a rectum phantom, our frame-work guides the surgeon to accurately localize the simulated tumor and thedistal resection margin. Conclusion: This framework is developed with ourclinical partner, based on actual clinical conditions. The experimental proto-col and the high level of accuracy show the feasibility of seamlessly integratingthis framework within the surgical workow.
Fichier principal
Vignette du fichier
Shen_IJCARS2020.pdf (4.31 Mo) Télécharger le fichier
Origin Files produced by the author(s)
Loading...

Dates and versions

lirmm-02381958 , version 1 (20-01-2020)

Identifiers

Cite

Jun Shen, Nabil Zemiti, Christophe Taoum, Guillaume Aiche, Jean-Louis Dillenseger, et al.. Transrectal Ultrasound Image-based Real-time Augmented Reality Guidance in Robot-assisted Laparoscopic Rectal Surgery: A Proof of Concept Study. International Journal of Computer Assisted Radiology and Surgery, 2020, 15 (3), pp.531-543. ⟨10.1007/s11548-019-02100-2⟩. ⟨lirmm-02381958⟩
132 View
761 Download

Altmetric

Share

Gmail Mastodon Facebook X LinkedIn More