Showing papers in "Computer Aided Surgery in 2001"

State of the art in surgical robotics: clinical applications and technology challenges.

Abstract: Although it has been over 15 years since the first recorded use of a robot for a surgical procedure, the field of medical robotics is still an emerging one that has not yet reached a critical mass. Although robots have the potential to improve the precision and capabilities of physicians, the number of robots in clinical use is still very small. In this review article, we begin with a short historical review of medical robotics, followed by an overview of clinical applications where robots have been applied. The clinical applications are then discussed; they include neurosurgery, orthopedics, urology, maxillofacial surgery, radiosurgery, ophthalmology, and cardiac surgery. We conclude with a listing of technology challenges and research areas, including system architecture, software design, mechanical design, imaging compatible systems, user interface, and safety issues.

Fully automatic anatomical, pathological, and functional segmentation from CT scans for hepatic surgery

Abstract: Objective: To improve the planning of hepatic surgery, we have developed a fully automatic anatomical, pathological, and functional segmentation of the liver derived from a spiral CT scan.Materials and Methods: From a 2 mm-thick enhanced spiral CT scan, the first stage automatically delineates skin, bones, lungs, kidneys, and spleen by combining the use of thresholding, mathematical morphology, and distance maps. Next, a reference 3D model is immersed in the image and automatically deformed to the liver contours. Then an automatic Gaussian fitting on the imaging histogram estimates the intensities of parenchyma, vessels, and lesions. This first result is next improved through an original topological and geometrical analysis, providing an automatic delineation of lesions and veins. Finally, a topological and geometrical analysis based on medical knowledge provides hepatic functional information that is invisible in medical imaging: portal vein labeling and hepatic anatomical segmentation according to the C...

The First Clinical Application of a "Hands-on" Robotic Knee Surgery System

Abstract: The performance of a novel "hands-on" robotic system for total knee replacement (TKR) surgery is evaluated. An integrated robotic system for accurately machining the bone surfaces in TKR surgery is described. Details of the system, comprising an "active constraint" robot, called Acrobot, a "gross positioning" robot, and patient clamps, are provided. The intraoperative protocol and the preoperative, CT-based, planning system are also described. A number of anatomical registration and cutting trials, using plastic bones, are described, followed by results from two preliminary clinical trials, which demonstrate the accuracy achieved in the anatomical registration. Finally, the first clinical trial is described, in which the results of the anatomical registration and bone cutting are seen to be of high quality. The Acrobot system has been successfully used to accurately register and cut the knee bones in TKR surgery. This demonstrates the great potential of a "hands-on" robot for improving accuracy and increasing safety in surgery.

Computer-assisted implantation of total knee prostheses: a case-control comparative study with classical instrumentation.

Abstract: A navigation system should improve the quality of a total knee prosthesis implantation in comparison to that obtained with the classical, surgeon-controlled operative technique. The authors implanted 30 total knee prostheses with an infrared navigation system (Orthopilot®, Aesculap, Tuttlingen, Germany). The quality of implantation was studied on postoperative long-leg coronal and lateral X-rays, and compared to a control group of 30 matched-paired total knee prostheses of the same type (Search® prosthesis, Aesculap, Tuttlingen, Germany) implanted with a classical, surgeon-controlled technique. An optimal mechanical femorotibial angle (177 to 183°) was obtained in 25 cases in the study group and 21 cases in the control group (p > 0.05). Similar differences were seen for the coronal and sagittal orientations of both tibial and femoral components. Globally, 23 cases in the study group and 8 cases in the control group were implanted in an optimal manner for all studied criteria (p < 0.001). The navigation sy...

System for robotically assisted percutaneous procedures with computed tomography guidance.

Abstract: We present the prototype of an image-guided robotic system for accurate and consistent placement of percutaneous needles in soft-tissue targets under CT guidance inside the gantry of a CT scanner. The couch-mounted system consists of a seven-degrees-of-freedom passive mounting arm, a remote center-of-motion robot, and a motorized needle-insertion device. Single- image-based coregistration of the robot and image space is achieved by stereotactic localization using a miniature version of the BRW head frame built into the radiolucent needle driver. The surgeon plans and controls the intervention in the scanner room on a desktop computer that receives DICOM images from the scanner. The system does not need calibration, employs pure image-based registration, and does not utilize any vendor-specific hardware or software features. In the open air, where there is no needle-tissue interaction, we systematically achieved an accuracy better than 1 mm in hitting targets at 5-8 cm from the fulcrum point. In the phanto...

Accuracy in tunnel placement for ACL reconstruction. Comparison of traditional arthroscopic and computer-assisted navigation techniques.

Abstract: The purpose of this randomized, prospective study was to compare accuracy in tunnel placement as performed with a traditional arthroscopic anterior cruciate ligament (ACL) reconstruction technique and with KneeNavTM ACL, a computer-assisted surgical navigation technique. Two surgeons experienced in ACL reconstruction, but inexperienced in computer-assisted surgical navigation technique, each randomly used traditional arthroscopic guides or KneeNavTM ACL to drill a tunnel in twenty identical foam knees. Placement of the resulting tibial and femoral tunnels was measured with a computer-assisted digitizing method and compared to traditional biplanar radiographs. Statistical analysis with Student's t-test was used to compare the distance from the ideal tunnel placement to the femoral and tibial tunnels. Accuracy of tunnel placement with KneeNavTM ACL was significantly better than that obtained with the traditional arthroscopic technique. Distances from the ideal tunnel placement to the femoral and tibial tunnels were 4.2 +/- 1.8 mm (mean +/- SD) and 4.9 +/- 2.3 mm, respectively, for the traditional arthroscopic technique, and 2.7 +/- 1.9 mm (femur) and 3.4 +/- 2.3 mm (tibia) for KneeNavTM ACL. These differences were statistically different. Tunnel placement for ACL reconstruction with KneeNavTM ACL, an image-based, computer-assisted surgical navigation device with a simple and intuitive interface, was more accurate than with the traditional arthroscopic technique.

Clinical results of percutaneous pelvic surgery. Computer assisted surgery using ultrasound compared to standard fluoroscopy.

Abstract: This study presents early results of clinical experience with the application of Computer Assisted Surgery (CAS) to percutaneous iliosacral screwing, with comparison to a historical series of patients treated using percutaneous fluoroscopy. Four patients were instrumented using a CAS system, with 10 screws being inserted. Thirty patients were treated by percutaneous fluoroscopic screwing, with 51 screws being inserted. The follow-up assessment included the following criteria; operative time, parameters of radiation exposure, neurological examination, screw placement evaluation on CT-scan, antalgic drug consumption, pain, Majeed grading, and loosening of implants. In the CAS group, the average radiation time was 0.35 min per patient and 0.14 min per screw. No trajectories outside the bone and no postoperative neurological deficits were found. In the fluoroscopic group, the average radiation time was 1.03 min per patient and 0.6 min per screw. Twelve screws had outside-bone trajectories, and iatrogenic neur...

Accuracy evaluation of surface‐based registration methods in a computer navigation system for hip surgery performed through a posterolateral approach

Abstract: Many computer navigation systems have recently been developed for brain surgery, and the use of such systems in orthopedic surgery is increasing. Intraoperative registration of preoperative images is one of the most important steps in controlling the overall accuracy of computer navigation systems. Various parameters, such as CT-scan slice thickness, reconstruction pitch, intraoperative data sampling area, and data sampling volume, may affect the accuracy of registration. The purpose of this study was to evaluate the effect of the aforementioned parameters on the accuracy of registration for hip surgery performed through a posterolateral approach, and to find a clinically suitable trade-off between accuracy and surgical invasiveness.Materials and Methods: One cadaveric pelvis and one cadaveric femur were used for this study. Four alumina ceramic balls with a diameter of 28 mm and within 1 micrometer of sphericity were attached to the pelvis, and three similar balls attached to the femur, to determine rela...

Precision of ACL tunnel placement using traditional and robotic techniques.

Abstract: The objective of this study was to examine the precision of ACL tunnel placement using: (1) Caspar® (orto MAQUET GmbH Co. KG) an active robotic system, and (2) four orthopedic surgeons with various levels of experience (between 100 and 3,500 ACL reconstructions). The robotic system and each surgeon drilled tunnels for ACL reconstruction in 10 plastic knees (total n = 50) that included a reference cube in the medial aspect of the proximal tibia and distal femur. For the robotic system, the placement of each tunnel was planned preoperatively using custom software and CT data for each femur and tibia. The robotic system then drilled the tunnels in the femur and tibia based on the preoperative plan. For the surgeons, tunnel placement was accomplished using their preferred technique, which was based on the one-incision arthroscopic technique. The distribution of intra-articular points on the tibia was contained within a sphere of radius 2.0 mm (robot system), 2.1 mm (Fellow 1), 2.4 mm (Fellow 2), 3.4 mm (Exper...

A Six-Degree-of-Freedom Passive Arm with Dynamic Constraints (PADyC) for Cardiac Surgery Application: Preliminary Experiments

Abstract: The purpose of Computer-Assisted Surgery (CAS) is to help physicians and surgeons plan and execute optimal strategies from multimodal image data. The execution of such planned strategies may be assisted by guidance systems. Some of these systems, called synergistic systems, are based on the cooperation of a robotic device with a human operator. We have developed such a synergistic device: PADyC (Passive Arm with Dynamic Constraints). The basic principle of PADyC is to have a manually actuated arm that dynamically constrains the authorized motions of the surgical tool held by the human operator during a planned task. Dynamic constraints are computed from the task definition, and are implemented by a patented mechanical system. In this paper, we first introduce synergistic systems and then focus on modeling and algorithmic issues related to the dynamic constraints. Finally, we describe a 6-degree-of-freedom prototype robot designed for a clinical application (cardiac surgery) and report on preliminary exper...

Fixation-based surgery: a new technique for distal radius osteotomy.

Abstract: Objective: The objective was to develop a fixation-based three-dimensional presurgical planner and an intraoperative guidance system for distal radius osteotomy. Fixation-based surgery is a technique premised on using a fixation device, such as a fracture-fixation plate, during the alignment and distraction phases of an osteotomy.Materials and Methods: The planning system and guidance system were coded using OpenGL on UNIX workstations. In vitro tests were performed to compare the reproducibility of the computer-enhanced technique to that of the traditional technique, and an in vivo pilot study was initiated.Results: In vitro, the computer-enhanced technique produced a significant reduction by more than one half in both the maximum error of correction and the standard deviation of the correction error. Preliminary in vivo results on six patients suggest that similar error diminution will occur during regular clinical application of the technique.Conclusions: Both studies showed that the computer system is...

Three-dimensional planning and simulation of hip operations and computer-assisted construction of endoprostheses in bone tumor surgery †

Abstract: Objective: This article presents the VIRTOPS (VIRTual Operation Planning in Orthopaedic Surgery) software system for virtual preoperative planning and simulation of hip operations. The system is applied to simulate the endoprosthetic reconstruction of the hip joint with hemipelvic replacement, and supports the individual design of anatomically adaptable, modular prostheses in bone tumor surgery. The virtual planning of the operation and the construction of the individual implant are supported by virtual reality techniques. The central step of the operation planning procedure, the placement of the cutting plane in the hip bone, depends strongly on the tumor's position. Segmentation of the tumor and the bones in MR and CT data, as well as fusion of MR and CT image sequences, is necessary to visualize the tumor's position within the hip bone.Materials and Methods: Three-dimensional models of the patient's hip are generated based on CT image data. A ROI-based segmentation algorithm enables the separation of t...

CT-integrated robot for interventional procedures: preliminary experiment and computer-human interfaces.

Abstract: Pre-operative planning and intra-operative computer interfaces for minimally invasive interventions were investigated with an active robot integrated with a CT scanner. To test the robotic system, a biopsy study was performed using a pig. For pre-operative planning, a virtual needle was superimposed on axial slices and multiplanar reformatted views in correlation with the interventional field. The path of the virtual needle was sent to the robot's controller, and the robot's needle gripper moved into a position congruent with the planned path. Intra-operative controls were then used to drive the needle while keeping the interventionalist's hands out of the direct X-ray beam during CT fluoroscopy. After needle insertion, the imaged and virtual needles were shown to be sufficiently congruent.

Restricted surface matching--numerical optimization and technical evaluation.

Abstract: Accurate and reliable registration is one of the most important issues in computer-aided surgery, as small errors may have a large influence on the overall accuracy of the system. The restricted surface-matching algorithm (RSM), initially developed for periacetabular osteotomy surgery (PAO), has been improved to become numerically more stable and reliable. To assess the accuracy and sensitivity of registration, a framework is presented that evaluates two aspects of registration: the sensitivity and raw performance of the registration algorithm are tested in a stand-alone environment, and the integration into a CAS system is analyzed by evaluating the accuracy of the complete system. For the latter tests, spherical-headed titanium screws used as fiducial landmarks provide a reference transformation for the registration. This framework was used to analyze the performance of RSM for PAO surgery. The sensitivity analysis showed the algorithm to be insensitive to noise up to a magnitude of 3 mm. Both the sensitivity analysis and simulated surgical environment tests showed that an accuracy can be attained of better than 2 mm in the region of interest, and better than 4 mm far away from the region of interest. This is sufficient for safely assisting PAO surgeries.

Accuracy Evaluation of a CAS System: Laboratory Protocol and Results with 6D Localizers, and Clinical Experiences in Otorhinolaryngology

Abstract: Objectives: The objective of the study reported in this article was to evaluate (1) localizer inaccuracies, one of the major sources of errors in Computer-Assisted Surgery (CAS) systems, and (2) the final errors obtained using surface-based registration in ear, nose, and throat (ENT) surgery. These objectives were met through (1) a technical evaluation of the accuracy and usability of several optical localizers under laboratory test conditions, and (2) a clinical measure of the global errors obtained when using a CAS system including one of the standard localizer systems (Flashpoint 5000®) in Functional Endoscopic Sinus Surgery (FESS).Patients and Methods: The technical evaluation of localizers consisted of series of geometric tests on four commercial systems. Clinical evaluation included the development of a laboratory CAS system using a markerless, skin surface registration method. This was based on a standard optical digitizing system (Flashpoint 5000®), which eliminates the need for the second CT scan...

Volumetric Model Determination of the Tibia Based on 2D Radiographs Using a 2D/3D Database

Abstract: We present a new concept with mathematical background for the construction of a three-dimensional (3D) volumetric model of the human tibia based on two conventional orthogonal two-dimensional (2D) radiographic images. This approach is supported by a computer database containing a collection of 80 2D/3D image data sets of individual cadaveric tibiae. For each of these tibiae, the database contains digitized 2D orthogonal radiographic images in both anterior and lateral views, and the corresponding 3D CT data obtained by computerized tomography. To obtain a 3D model of a tibia for a given patient, shape matching is performed. The computer finds the most similar tibia to the patient's tibia among the 2D radiographic images in the database by applying a matching process. To improve accuracy, a 2D image warping procedure can be applied on the slices of the selected bone prior to 3D reconstruction. The warping process is controlled by the contour data of the two orthogonal views. We found that the 3D model thus achieved was useful for virtual preoperative planning and for simulation of the internal fixation of long bones.

Real-Time Optical Coherence Tomography for Minimally Invasive Imaging of Prostate Ablation

Abstract: Objective: Numerous ablation techniques have been developed to alleviate urethral obstruction and improve urodynamics in benign prostatic hyperplasia. Most techniques, however, rely on visual observation of surface changes for ablation end points. The feasibility of using real-time optical coherence tomography (OCT) for minimally invasive imaging to guide and monitor prostate resection is demonstrated with representative techniques of laser and radiofrequency ablation. Empiric comparisons of ablation dynamics are made, and the use of OCT as a high-resolution, subsurface modality for image guidance is evaluated.Materials and Methods: Optical coherence tomography is a high-resolution, high-speed near-infrared imaging technique analogous to ultrasound imaging, except that reflections of light are detected rather than sound. High-speed OCT is used to image the dynamic process of laser and radiofrequency ablation of in vitro human prostate tissue. OCT images of ablation sites are compared with corresponding hi...

A surface-matching technique for robot-assisted registration.

Abstract: Successful implementation of robot-assisted surgery (RAS) requires coherent integration of spatial image data with sensing and actuating devices, each having its own coordinate system. Hence, accurate estimation of the geometric relationships between relevant reference frames, known as registration, is a crucial procedure in all RAS applications. The purpose of this paper is to present a new registration scheme, along with the results of an experimental evaluation of a robot-assisted registration method for RAS applications in orthopedics. The accuracy of the proposed registration is appropriate for specified orthopedic surgical applications such as Total Knee Replacement. The registration method is based on a surface-matching algorithm that does not require marker implants, thereby reducing surgical invasiveness. Points on the bone surface are sampled by the robot, which in turn directs the surgical tool. This technique eliminates additional coordinate transformations to an external device (such as a digitizer), resulting in increased surgical accuracy. The registration technique was tested on an RSPR six-degrees-of-freedom parallel robot specifically designed for medical applications. A six-axis force sensor attached to the robot's moving platform enables fast and accurate acquisition of positions and surface normal directions at sampled points. Sampling with a robot probe was shown to be accurate, fast, and easy to perform. The whole procedure takes about 2 min, with the robot performing most of the registration procedures, leaving the surgeon's hands free. Robotic registration was shown to provide a flawless link between preoperative planning and robotic assistance during surgery.

URobotics—Urology Robotics at Johns Hopkins

Abstract: URobotics (Urology Robotics) is a program of the Urology Department at the Johns Hopkins Medical Institutions dedicated to the development of new technology for urologic surgery (http://urology.jhu.edu/urobotics). The program is unique in that it is the only academic engineering program exclusively applied to urology. The program combines efforts and expertise from the medical and engineering fields through a close partnership of clinical and technical personnel. Since its creation in 1996, the URobotics lab has created several devices, instruments, and robotic systems, several of which have been successfully used in the operating room. This article reviews the technology developed in our laboratory and its surgical applications, and highlights our future directions.

Spinal navigation in cervical fractures—A preliminary clinical study on Judet-osteosynthesis of the axis

Abstract: Objective: To evaluate the accuracy of CT-based and computer-aided screw insertion into the pedicles of the axis using the method of Judet.Materials and Methods: In two patients, four transpedicular implants of C2 were positioned using a computer-guided technique. One patient with iatrogenic destabuization of the posterior structures C3 and C4 and one patient with a hangman's fracture of the axis required pedicular fixation. In addition, intraoperative documentation of the additional time required for the navigation procedures was made. Finally, postoperative CTs of each patient provided further information about transpedicular implant localization.Results: Image-guided implantation of screws was possible in all scheduled pedicles of the axis. In the postoperative CT scans, none of the inserted screws perforated the medial or lateral pedicle. All screws were accurately positioned within the pedicles, and no anterior perforation of the screws into the vertebral foramen was observed.Conclusions: Our initial...

Comparison of fit and fill between anatomic stem and straight tapered stem using virtual implantation on the ORTHODOC workstation.

Abstract: The objective of this article was to determine the influence of stem design on fit and fill using the preoperative planning workstation of the ROBODOC system. Anatomic ABG and straight Osteolock femoral components were virtually implanted into 50 femora (25 from patients with developmental dysplasia of the hip (DDH), 25 morphologically normal) on the workstation display. Fit and fill, and length of the proximal posterolateral femoral cortex removed by milling (LPFCR), were measured on the cross-sectional images. Lateral curvature (alpha angle) and anteversion of the femur were evaluated. The ABG components showed significantly better fit than the Osteolock components at the levels proximal to the lesser trochanter. The Osteolock components showed significantly greater LPFCR than the ABG components, especially in the patients with DDH. The patients with DDH showed significantly greater alpha angle and femoral anteversion than those with morphologically normal femora. With the Osteolock components, the alpha angle correlated significantly with femoral anteversion and LPFCR. Use of an anatomic proximal body of the stem helped to improve the proximal canal fit. Greater LPFCR was required when a straight stem was implanted in patients with a relatively high alpha angle.

New Virtual System for Planning of Neuroendoscopic Interventions

Abstract: Objective: The demands on virtual planning systems are increasing, particularly for technically pretentious surgical interventions such as intracranial endoscopy. In this article, a new virtual system for neuroendoscopy (VIVENDI) is presented. The main purpose of this system is to provide support for planning and training in neuroendoscopic interventions.Materials and Methods: The software is applied for virtual endoscopic visualization of three-dimensional magnetic resonance datasets, using a clinical magnetic resonance scanner. Rendering is performed on a Hewlett-Packard UNIX workstation.Results: Virtual endoscopy provides a three-dimensional view of the cerebral ventricles, with good visualization of anatomic details. The rendering system used allows the generation of fly-through sequences for the entire ventricular system in real time. Navigation is controlled by mouse movements, and the visualization of the computer-generated intraventricular spaces is adapted to the characteristics of the optical en...

Computer-assisted fracture reduction: novel method for analysis of accuracy.

Abstract: Anatomic reduction of displaced fractures is limited by the chosen surgical approach and intraoperative visualization. Preoperative Computed Tomography (CT) enhances the analysis of the fracture pattern and provides accurate spatial relationships. Computer Assisted Surgery (CAS) was introduced to increase the accuracy of specific surgical procedures. CAS systems can be used for implant placement or osteotomies in intact bone or reduced situations prior to obtaining the CT data, as differentiation into different datasets related to specific fragments is not yet possible. We present a model that allows “virtual” controlled reduction, providing computer assistance during the fracture reduction. Prior to clinical application, the accuracy of the process of virtual reduction must be proven in an experimental setting. An in vitro fracture model with two body fragments and a motion tracking system for three-dimensional (3D) control (accuracy 0.1 mm and 0.1°) was used. Two methods were employed: direct visualizat...

Localization of implanted EEG electrodes in a virtual-reality environment.

Abstract: In the planning of epilepsy surgery procedures, intracranial electrodes are implanted in a significant fraction of the patients. Accurate localization of the individual electrode contacts with respect to the brain cortex is imperative. Because the manual tracking of an EEG electrode in a CT scan in a slice-by-slice fashion is cumbersome and subjective, the goal of this study was to develop an easier and more accurate way to localize implanted EEG electrodes. In this paper, we present our solution in the form of a virtual-reality environment with interactive tools to assist the clinician with EEG localization. With the help of a high-quality and fast volume renderer, a view is created of the inside of the patient's skull to obtain an overview of the electrodes in relation to the cortical structures. Depth, grid, and reed electrodes are characterized semi-interactively using different methods. For depth electrodes, the contacts (which are not visible in the CT scan) are derived by measuring off the theoretical distance between the contact and the end of the electrode from the central axis produced by a three-dimensional (3D) line tracker. For grid electrodes, the contacts are visible in a CT, so the 3D view is merely used to find the contacts and to resolve the overlap of grids with other grids, tail wires, or bone ridges. For reed electrodes, the contacts, which are again not visible in this case, are calculated from a line model fitted to the positions of lead markers. After letting the user place artificial spheres on the lead markers and wire, a B-spline is fitted to the spheres' centers to estimate the positions of the contacts. The approach was evaluated by applying it to CT scans of seven patients. It appeared that the method is generally applicable (even crossing electrodes or electrodes with gaps were correctly characterized), and that the display via 3D views and slices is so good that manual placement of spheres performed as well as semi-automatic placement. From computer experiments, it appeared that the final localization error in the position of EEG contacts could be estimated to lie in the order of the dimensions of one voxel.

Prostate biopsy protocols: 3D visualization‐based evaluation and clinical correlation

Abstract: Objectives: Systematic needle core biopsy is commonly used for the diagnosis of prostate cancer by urologists worldwide. As accurate and early diagnosis will result in more and better options for treatment, it is critical that the best possible protocols for biopsy be used clinically. In this study, we develop three-dimensional (3D) modeling and simulation technologies to evaluate most of the biopsy protocols in current clinical use, and correlate the results with those from clinical cases.Materials and Methods: Using deformable modeling techniques, 3D computerized prostate surface models were reconstructed from step-sectioned, whole-mounted radical prostatectomy specimens with localized prostate cancer. A 3D computer simulation system was developed to accurately depict the anatomy of the prostate and all individual tumor foci. A user-friendly interface was developed in the system so that a physician can easily and interactively use it for prostate needle core biopsy. A total of 281 prostate models were r...

A Fast Impingement Detection Algorithm for Computer-Aided Orthopedic Surgery

Abstract: Objective: For simulation of computer-aided orthopedic interventions, the detection of impingement between parts of the patient's anatomy and/or implants is often of key importance. The impingement (collision) detection methods used in the existing literature seem to be unsuitable for two reasons. First, a polyhedral approximation of an anatomical model is not appropriate because medical images are quite irregular and are geometrically complex. Second, geometric and temporal coherences are not always available, because only the final results may be of interest. This article describes the development of a fast and accurate impingement detection algorithm for medical applications.Materials and Methods: The presented algorithm takes implicit object models from reconstructions of anatomical CT data that represent complicated anatomical structures. To speed up the detection procedure, a lookup table and a linear transform are used so that searching for impingement between any two objects becomes a problem of c...

Intraoperative accuracy evaluation of virtual fluoroscopy—A method for application in computer‐assisted distal locking

Abstract: Virtual fluoroscopy integrates intraoperative C-arm fluoroscopy as an imaging modality for surgical navigation. In the operating room, the conditions for application of virtual fluoroscopy may be impaired. In such situations, the surgeon is interested in an intraoperative check to decide whether the accuracy available is sufficient to perform the scheduled procedure. The test principle is to include an artificial landmark within the fluoroscopic images acquired for virtual fluoroscopy. As this landmark is fixed outside the patient, it can be touched with the referenced tool prior to performing the procedure. A mismatch between the actual tool position at the landmark and the virtual tool position as visualized on the computer screen allows estimation of the system's accuracy. The principle described was designed for detection of inaccuracies resulting from input of nonoptimal data to the navigation system. The method was successfully applied during computer-assisted distal locking of intramedullary implants, and the test principle might be adapted for other applications of virtual fluoroscopy.

White paper: challenges and opportunities in computer-assisted interventions January 2001.

Abstract: In late June 2000, researchers at the forefront of radiology, surgery, and engineering presented the latest advances in medical imaging technologies and image-guided surgery at the annual conference of Computer Assisted Radiology and Surgery (CARS). This document highlights presentations from the panel representing the International Society for Computer Assisted Surgery (ISCAS), along with input from over 500 audience members in that session. Participants were:

A full 3D-navigation system in a suitcase.

Abstract: Objective: To reduce the impact of contemporary 3D-navigation systems on the environment of typical otorhinolaryngologic operating rooms, we demonstrate that a transfer of navigation software to modern high-power notebook computers is feasible and results in a practicable way to provide positional information to a surgeon intraoperatively.Materials and Methods: The ARTMA Virtual Patient System has been implemented on a Macintosh PowerBook G3 and, in connection with the Polhemus FASTRAK digitizer, provides intraoperative positional information during endoscopic endonasal surgery.Results: Satisfactory intraoperative navigation has been realized in two- and three-dimensional medical image data sets (i.e., X-ray, ultrasound images, CT, and MR) and live video.Conclusions: This proof-of-concept study demonstrates that acceptable ergonomics and excellent performance of the system can be achieved with contemporary high-end notebook computers.