Abstract
We provided in [14] an augmented reality guidance system for liver punctures, which has been validated on a static abdominal phantom [16]. In this paper, we report the first in vivo experiments.
We developed a strictly passive protocol to directly evaluate our system on patients. We show that the system algorithms work efficiently and we highlight the clinical constraints that we had to overcome (small operative field, weight and sterility of the tracked marker attached to the needle...). Finally, we investigate to what extent breathing motion can be neglected for free breathing patient. Results show that the guiding accuracy, close to 1 cm, is sufficient for large targets only (above 3 cm of diameter) when the breathing motion is neglected. In the near future, we aim at validating our system on smaller targets using a respiratory gating technique.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Balter, J.M., Lam, K.L., McGinn, C.J., Lawrence, T.S., Ten Haken, R.K.: Improvement of CT-based treatment-planning models of abdominals targets using static exhale imaging. Int. J. Radiation Oncology Biol. Phys. 41(4), 939–943 (1998)
Bascle, B., Navab, N., Loser, M., Geiger, B., Taylor, R.: Needle placement under x-ray fluoroscopy using perspective invariants. In: MMBIA 2000, pp. 46–53 (2000)
Blackall, J.M., et al.: Tracking alignment of sparse ultrasound with preoperative images of the liver and an interventional plan using models of respiratory motion and deformation. In: Proceedings SPIE Medical Imaging (2004)
Boctor, E.M., et al.: Robotically assisted intraoperative ultrasound with application to ablative therapy of liver cancer. In: SPIE Med. Imaging 2003, vol. 5029, pp. 281–291 (2003)
Clifford, M., et al.: Assessment of hepatic motion secondary to respiration for computer assisted interventions. Computer Aided Surgery 7, 291–299 (2002)
Fichtinger, G., et al.: Needle insertion in CT scanner with image overlay - cadaver studies. In: Barillot, C., Haynor, D.R., Hellier, P. (eds.) MICCAI 2004. LNCS, vol. 3217, pp. 795–803. Springer, Heidelberg (2004)
Fichtinger, G., et al.: System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance. Journal of Academic Radiology 9(1), 60–74 (2002)
Hawkes, D.J., et al.: Tissue deformation and shape models in image-guided interventions: a discussion paper. Medical Image Analysis 9(2), 163–175 (2004)
Hiro. Human interface technology lab, http://www.hitl.washington.edu/artoolkit/
Lavallée, S., Cinquin, P., Troccaz, J.: Computer Integrated Surgery and Therapy: State of the Art. In: Roux, C., Coatrieux, J.L. (eds.) ch. 10, pp. 239–310. IS Press, Amsterdam (1997)
McGahan, J.F., Dodd III, G.D.: Radiofrequency ablation of the liver: Current status. American Journal of Roentgenology 176(1), 3–16 (2001)
Mitschke, M., Bani-Hashemi, A., Navab, N.: Interventions under video-augmented X-ray guidance: Application to needle placement. In: Delp, S.L., DiGoia, A.M., Jaramaz, B. (eds.) MICCAI 2000. LNCS, vol. 1935, pp. 858–868. Springer, Heidelberg (2000)
Mourgues, F., Vieville, T., Falk, V., Coste-Manière, È.: Interactive guidance by image overlay in robot assisted coronary artery bypass. In: Ellis, R.E., Peters, T.M. (eds.) MICCAI 2003. LNCS, vol. 2878, pp. 173–181. Springer, Heidelberg (2003)
Nicolau, S., Garcia, A., Pennec, X., Soler, L., Ayache, N.: An augmented reality system to guide radio-frequency tumor ablation. The Journal of Computer Animation and Virtual World 16(1), 1–10 (2005)
Nicolau, S., Pennec, X., Soler, L., Ayache, N.: An accuracy certified augmented reality system for therapy guidance. In: Pajdla, T., Matas, J(G.) (eds.) ECCV 2004. LNCS, vol. 3023, pp. 79–91. Springer, Heidelberg (2004)
Nicolau, S., Schmid, J., Pennec, X., Soler, L., Ayache, N.: An augmented reality & virtuality interface for a puncture guidance system: Design and validation on an abdominal phantom. In: Yang, G.-Z., Jiang, T.-Z. (eds.) MIAR 2004. LNCS, vol. 3150, pp. 302–310. Springer, Heidelberg (2004)
Soler, L., Delingette, H., Malandain, G., Ayache, N., Marescaux, J.: Fully automatic anatomical, pathological, and functional segmentation from CT scans for hepatic surgery. Computer Aided Surgery 6(3) (2001)
Vogt, S., et al.: Augmented reality system for MRI-guided interventions: phantom studies and first animal test. SPIE Med. Imaging 5367, 100–109 (2004)
Wagman, R., Yorke, E., Ford, E., Giraud, P., Mageras, G., Minsky, B., Rosenzweig, K.: Respiratory gating for liver tumors: use in dose escalation. Int. J. Radiation Oncology Biol. Phys. 55(3), 659–668 (2003)
Wong, J., Sharpe, M., Jaffray, D., Kini, V., Robertson, J., Stromberg, J., Martinez, A.: The use of active breathing control (abc) to reduce margin for breathing motion. Int. J. Radiation Oncology Biol. Phys. 44(4), 911–919 (1999)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Nicolau, S.A., Pennec, X., Soler, L., Ayache, N. (2005). A Complete Augmented Reality Guidance System for Liver Punctures: First Clinical Evaluation. In: Duncan, J.S., Gerig, G. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2005. MICCAI 2005. Lecture Notes in Computer Science, vol 3749. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11566465_67
Download citation
DOI: https://doi.org/10.1007/11566465_67
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-29327-9
Online ISBN: 978-3-540-32094-4
eBook Packages: Computer ScienceComputer Science (R0)