Integration of MRI and ultrasound in surgical navigation for robotic surgery

Jaesung Hong; K. Konishi; H. Nakashima; S. Ieiri; K. Tanoue; M. Nakamuta; M. Hashizume

doi:10.1007/978-3-540-36841-0_773

Integration of MRI and ultrasound in surgical navigation for robotic surgery

Jaesung Hong, K. Konishi, H. Nakashima, S. Ieiri, K. Tanoue, M. Nakamuta, M. Hashizume

Department of Robotics and Mechatronics Engineering

Kyushu University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

A surgical navigation system designed for percutaneous abdominal therapies was proposed and evaluated in clinical applications. In addition to segmentation and 3-D display of tumors using MRI, its integration with US can help surgeons deal with instabilities such as respiratory motion and soft tissue shift that are inherent in abdominal surgery. We also included a process to correct the registration error between MRI and US resulting from patient posture change or marker shift. The correction matrix computed by measuring the needle position in the MR and US images is multiplied by the registration matrix. Phantom and animal experiments demonstrated that the proposed method could combine the advantages of both MRI and US. The average insertion accuracy was less than 3 mm, and the time required to determine the optimal insertion path was less than that required under either US or MRI guidance alone. The newly developed system was applied to two patients who underwent PEIT therapy, and its feasibility in clinical applications was verified.

Original language	English
Title of host publication	IFMBE Proceedings
Editors	Sun I. Kim, Tae Suk Suh
Publisher	Springer Verlag
Pages	3052-3055
Number of pages	4
Edition	1
ISBN (Print)	9783540368397
DOIs	https://doi.org/10.1007/978-3-540-36841-0_773
State	Published - 2007
Event	10th World Congress on Medical Physics and Biomedical Engineering, WC 2006 - Seoul, Korea, Republic of Duration: 27 Aug 2006 → 1 Sep 2006

Publication series

Name	IFMBE Proceedings
Number	1
Volume	14
ISSN (Print)	1680-0737
ISSN (Electronic)	1433-9277

Conference

Conference	10th World Congress on Medical Physics and Biomedical Engineering, WC 2006
Country/Territory	Korea, Republic of
City	Seoul
Period	27/08/06 → 1/09/06

Bibliographical note

Publisher Copyright:
© International Federation for Medical and Biological Engineering 2007.

Keywords

Image-guided surgery
Integration of MRI with US
Percutaneous abdominal therapy
Surgical navigation

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10.1007/978-3-540-36841-0_773

Cite this

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abstract = "A surgical navigation system designed for percutaneous abdominal therapies was proposed and evaluated in clinical applications. In addition to segmentation and 3-D display of tumors using MRI, its integration with US can help surgeons deal with instabilities such as respiratory motion and soft tissue shift that are inherent in abdominal surgery. We also included a process to correct the registration error between MRI and US resulting from patient posture change or marker shift. The correction matrix computed by measuring the needle position in the MR and US images is multiplied by the registration matrix. Phantom and animal experiments demonstrated that the proposed method could combine the advantages of both MRI and US. The average insertion accuracy was less than 3 mm, and the time required to determine the optimal insertion path was less than that required under either US or MRI guidance alone. The newly developed system was applied to two patients who underwent PEIT therapy, and its feasibility in clinical applications was verified.",

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Hong, J, Konishi, K, Nakashima, H, Ieiri, S, Tanoue, K, Nakamuta, M & Hashizume, M 2007, Integration of MRI and ultrasound in surgical navigation for robotic surgery. in SI Kim & TS Suh (eds), IFMBE Proceedings. 1 edn, IFMBE Proceedings, no. 1, vol. 14, Springer Verlag, pp. 3052-3055, 10th World Congress on Medical Physics and Biomedical Engineering, WC 2006, Seoul, Korea, Republic of, 27/08/06. https://doi.org/10.1007/978-3-540-36841-0_773

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AU - Konishi, K.

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AU - Ieiri, S.

AU - Tanoue, K.

AU - Nakamuta, M.

AU - Hashizume, M.

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N2 - A surgical navigation system designed for percutaneous abdominal therapies was proposed and evaluated in clinical applications. In addition to segmentation and 3-D display of tumors using MRI, its integration with US can help surgeons deal with instabilities such as respiratory motion and soft tissue shift that are inherent in abdominal surgery. We also included a process to correct the registration error between MRI and US resulting from patient posture change or marker shift. The correction matrix computed by measuring the needle position in the MR and US images is multiplied by the registration matrix. Phantom and animal experiments demonstrated that the proposed method could combine the advantages of both MRI and US. The average insertion accuracy was less than 3 mm, and the time required to determine the optimal insertion path was less than that required under either US or MRI guidance alone. The newly developed system was applied to two patients who underwent PEIT therapy, and its feasibility in clinical applications was verified.

AB - A surgical navigation system designed for percutaneous abdominal therapies was proposed and evaluated in clinical applications. In addition to segmentation and 3-D display of tumors using MRI, its integration with US can help surgeons deal with instabilities such as respiratory motion and soft tissue shift that are inherent in abdominal surgery. We also included a process to correct the registration error between MRI and US resulting from patient posture change or marker shift. The correction matrix computed by measuring the needle position in the MR and US images is multiplied by the registration matrix. Phantom and animal experiments demonstrated that the proposed method could combine the advantages of both MRI and US. The average insertion accuracy was less than 3 mm, and the time required to determine the optimal insertion path was less than that required under either US or MRI guidance alone. The newly developed system was applied to two patients who underwent PEIT therapy, and its feasibility in clinical applications was verified.

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Integration of MRI and ultrasound in surgical navigation for robotic surgery

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