LapAssistent — a laparoscopic liver surgery assistance system

  • Volker Martens
  • Stefan Schlichting
  • Armin Besirevic
  • Markus Kleemann
Part of the IFMBE Proceedings book series (IFMBE, volume 22)


In this work we present a navigation system for laparoscopic interventions on the liver. Our system provides a convenient global interface for guiding the surgeon through the surgical workflow. Instruments are tracked magnetically and registration with preoperative data can be performed in several ways. Currently, we evaluate the system in an animal study.


planning data magnetic tracking laparoscopic ultrasound registration 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Llovet, J.M.: Updated treatment approach to hepatocellular carcinoma. J Gastroenterol, 40(3) (2005) 225–235CrossRefGoogle Scholar
  2. 2.
    Blaker, H., Hofmann, W.J., Theuer, D., Otto, H.F.: Pathohistological findings in liver metastases. Radiologe 41(1) (2001) 1–7CrossRefGoogle Scholar
  3. 3.
    Bechstein, W.: Which liver metastases are resectable? European Journal of Cancer Supplements 5(5) (2007) 301–306CrossRefGoogle Scholar
  4. 4.
    Abdalla, E.K., Barnett, C.C., Doherty, D., Curley, S.A., Vauthey, J.N.: Extended hepatectomy in patients with hepatobiliary malignancies with and without preoperative portal vein embolization. Arch Surg 137(6) (2002) 675–80; discussion 680-1CrossRefGoogle Scholar
  5. 5.
    Lang, H.: Technik der Leberresektion-teil i. Chirurg 78(8) (2007) 761–774CrossRefGoogle Scholar
  6. 6.
    Burpee, S., Kurian, M., Murakame, Y., Benevides, S., Gagner, M.: The metabolic and immune response to laparoscopic vs open liver resection. Surg Endosc 16 (2002) 899–904CrossRefGoogle Scholar
  7. 7.
    Dagher, I., Franco, D.: Commentary to Liver Surgery for Solid Tumors. In: Controversies in Laparascopic Surgery. Springer (2006) 295–297Google Scholar
  8. 8.
    Simillis, C., Constantinides, V.A., Tekkis, P.P., Darzi, A., Lovegrove, R., Jiao, L., Antoniou, A.: Laparoscopic versus open hepatic resections for benign and malignant neoplasms-a meta-analysis. Surgery 141(2) (2007) 203–211CrossRefGoogle Scholar
  9. 9.
    Clifford, M.A., Banovac, F., Levy, E., Cleary, K.: Assessment of hepatic motion secondary to respiration for computer assisted interventions. Comput Aided Surg 7(5) (2002) 291–299CrossRefGoogle Scholar
  10. 10.
    Martens, V., Kleemann, M., Matthäus, L., Bruch, H.P., Schweikard, A.: Evaluation of EM tracking systems for laparoscopic liver surgery. In: Proc of. CARS 2006, Springer (2006)Google Scholar
  11. 11.
    Martens, V., Besirevic, A., Schlichting, S., Kleemann, M., Hildebrand, P., Bruch, H.-P., Schweikard, A.: Ein magnetisches Navigationssystem für die minimal-invasive Leberchirurgie BMT 2007, Aachen, 2007Google Scholar
  12. 12.
    Martens, V., Besirevic, A., Schlichting, S., Schweikard, A.: Evaluation und relative Positionskorrektur eines magnetischen Trackingsystems für die minimal-invasive Chirurgie CURAC 2007, 271–274, Karlsruhe, 2007Google Scholar
  13. 13.
    Schlichting, S., Hildebrand, P., Martens, V., Besirevic, A., Kleemann, M., Roblick, U., Mirow, L., B□urk, C., Schweikard, A., Bruch, H.: Intraoperative documentation of laparoscopic radiofrequency ablation of liver tumours-first experiences. CARS 2007, June 27–30, Berlin.Google Scholar
  14. 14.
    Hansen, C., Schlichting, S., Zidowitz, S., Kohn, A., Hindennach, M., Kleemann, M., Peitgen, H.O.: Intraoperative adaptation and visualization of preoperative risk analyses for oncologic liver surgery. In: Proc. of SPIE 2008. (2008) San Diego.Google Scholar
  15. 15.
    Lange, T., Papenberg, N., Heldmann, S., Modersitzki, J., Fischer, B., Schlag, P. M.: 3D Ultrasound-CT Alignment of the Liver using Combined Landmark-Intensity Registration. In: Internationnal Conference on Computer Assisted Radiology and Surgery 2008 (CARS’ 08)Google Scholar
  16. 16.
    Papenberg, N., Lange, T., Modersitzki, J., Schlag, P.M., Fischer, B.: Image registration for ct and intra-operative ultrasound data of the liver. In to appear, ed.: Medical Imaging 2008: Assessment (Sahiner, Manning) p. 10 Visualization, Image-guided Procedures, and Modeling. (2008)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Volker Martens
    • 1
  • Stefan Schlichting
    • 2
  • Armin Besirevic
    • 2
  • Markus Kleemann
    • 2
  1. 1.Institute for Robotics and Cognitive SystemsLübeckGermany
  2. 2.Clinic for SurgeryUniversity Hospital LübeckGermany

Personalised recommendations