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Progressive internal landmark registration for surgical navigation in laparoscopic gastrectomy for gastric cancer

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

A surgical navigation system supports the comprehension of anatomical information during surgery. Patient-to-image registration is the alignment process between CT volume and patient coordinate systems. Achieving accurate registration in the surgical navigation of laparoscopic surgery is very challenging due to soft tissue deformation. This paper presents a new patient-to-image registration method based on internal anatomical landmarks for improving registration accuracy in the surgical navigation of laparoscopic gastrectomy for gastric cancer.

Methods

Our proposed registration method progressively utilizes internal anatomical landmarks. In laparoscopic gastrectomy for gastric cancer, the surgeon cuts the blood vessels around the stomach. The positions of the cut vessels are sequentially used as fiducials for registration during surgery. The proposed method uses a weighted point-based registration method for computing the transformation matrix using the fiducials both on the body surface and on the blood vessels. When a blood vessel is cut during surgery, the proposed progressive registration method measures the cut vessel’s position and computes a transformation matrix by adding the cut vessel as a fiducial.

Results

We applied our proposed progressive registration method using the positional information of the blood vessels acquired during laparoscopic gastrectomy in 20 cases. We evaluated it using target registration error in four blood vessels. The average target registration error in the four blood vessels was 12.6 mm and ranged from 2.1 to 32.9 mm.

Conclusion

Since the proposed progressive registration can reduce registration error, our proposed method is very useful for the surgical navigation of laparoscopic gastrectomy. Our proposed progressive registration method might increase the accuracy of surgical navigation in laparoscopic gastrectomy.

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Acknowledgments

The authors thank our colleagues for suggestions and advice. This work was supported in part by a Health and Labour Sciences Research Grant from the Ministry of Health Labour and Welfare, by the Practical Research for Innovative Cancer Control from Japan Agency for Medical Research and Development, AMED, and by a Grant-in-Aid for Scientific Research from the Ministry of Education, Culture, Sports, Science and Technology and the Japan Society for the Promotion of Science (26108006, 25242047, 26560255).

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Authors and Affiliations

  1. Information & Communications, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan

    Yuichiro Hayashi & Kensaku Mori

  2. Department of Gastroenterological Surgery, Aichi Cancer Center Hospital, 1-1 Kanokoden, Chikusa-ku, Nagoya, 464-8681, Japan

    Kazunari Misawa

  3. Information Technology Center, Nagoya University, Furo-cho, Chikusa-ku, Nagoya, 464-8601, Japan

    David J. Hawkes

  4. Centre for Medical Image Computing, University College London, Gower Street, London, WC1E 6BT, UK

    David J. Hawkes

Authors
  1. Yuichiro Hayashi
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  2. Kazunari Misawa
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  3. David J. Hawkes
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  4. Kensaku Mori
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Corresponding author

Correspondence to Yuichiro Hayashi.

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The authors declare that they have no conflict of interest.

Ethical standard

The study was approved by the institutional review board of the Aichi Cancer Center.

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Informed consent was obtained from all individual participants included in the study.

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Hayashi, Y., Misawa, K., Hawkes, D.J. et al. Progressive internal landmark registration for surgical navigation in laparoscopic gastrectomy for gastric cancer. Int J CARS 11, 837–845 (2016). https://doi.org/10.1007/s11548-015-1346-3

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  • DOI: https://doi.org/10.1007/s11548-015-1346-3

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