Computer-assisted access to the kidney

Objectives The aim of this paper is to introduce the principles of computer‐assisted access to the kidney. The system provides the surgeon with a pre‐operative 3D planning on computed tomography (CT) images. After a rigid registration with space‐localized ultrasound (US) data, preoperative planning...

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Bibliographic Details
Published in:The international journal of medical robotics + computer assisted surgery 2005-12, Vol.1 (4), p.58-66
Main Authors: Mozer, P, Leroy, A, Payan, Y, Troccaz, J, Chartier-Kastler, E, Richard, F
Format: Article
Language:English
Subjects:
2.5D echography
Bioengineering
Biomechanics
Computer Science
Computer-Assisted-Surgery
Engineering Sciences
Humans
Imaging, Three-Dimensional
Kidney
Kidney - diagnostic imaging
Kidney - surgery
Life Sciences
Mechanics
Medical Imaging
Patient Care Planning
Phantoms, Imaging
Physics
Punctures
Reproducibility of Results
Surgery, Computer-Assisted
Tomography, X-Ray Computed
Ultrasonography
Ultrasonography - instrumentation
User-Computer Interface
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Summary:Objectives The aim of this paper is to introduce the principles of computer‐assisted access to the kidney. The system provides the surgeon with a pre‐operative 3D planning on computed tomography (CT) images. After a rigid registration with space‐localized ultrasound (US) data, preoperative planning can be transferred to the intra‐operative conditions and an intuitive man‐machine interface allows the user to perform a puncture. Material and methods Both CT and US images of informed normal volunteer were obtained to perform calculation on the accuracy of registration and punctures were carried out on a kidney phantom to measure the precision of the whole of the system. Results We carried out millimetric registrations on real data and guidance experiments on a kidney phantom showed encouraging results of 4.7 mm between planned and reached targets. We noticed that the most significant error was related to the needle deflection during the puncture. Conclusion Preliminary results are encouraging. Further work will be undertaken to improve efficiency and accuracy, and to take breathing into account. Copyright © 2005 John Wiley & Sons, Ltd.
ISSN:1478-5951
1478-596X
DOI:10.1002/rcs.58