Skip to main content
SpringerLink
Log in

Model-Assisted Image-Guided Liver Surgery Using Sparse Intraoperative Data

  • Chapter
  • First Online:
Book cover Soft Tissue Biomechanical Modeling for Computer Assisted Surgery

Part of the book series: Studies in Mechanobiology, Tissue Engineering and Biomaterials ((SMTEB,volume 11))

Abstract

This chapter examines the application of intraoperatively acquired sparse data to model-assisted image-guided liver surgery. The results suggest intraoperative deformation correction from computer models and sparse data to be considerable. This is an important step in the translation of image-guided surgery techniques to the abdomen. Moreover, the algorithms explored are a cost-effective solution that potentially improves the application of surgery, is widely adoptable, and is relatively easy to integrate into current surgical workflow practices. While continued investigation towards improvement is needed, these do represent beneficial advances that can affect the clinical application of surgery today.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 129.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 169.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD 169.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Notes

  1. 1.

    http://www.mevislab.de/

  2. 2.

    http://www.slicer.org/

  3. 3.

    http://www.sci.utah.edu/cibc/software

  4. 4.

    http://brainvis.wustl.edu/wiki/index.php/Main_Page

  5. 5.

    http://www.itksnap.org/

  6. 6.

    http://www.osirix-viewer.com/

  7. 7.

    http://www.amira.com/

  8. 8.

    http://www.pathsurg.com/

  9. 9.

    http://www.intrasense.fr/pages/eng/media/Myrian_XPLiver.pdf

  10. 10.

    http://www.mint-medical.de/productssolutions/mintliver/mintliver/

References

  1. Ambrosino, G., Polistina, F., Costantin, G., Francescon, P., Guglielmi, R., Zanco, P., Casamassima, F., Febbraro, A., Gerunda, G., Lumachi, F.: Image-guided robotic stereotactic radiosurgery for unresectable liver metastases: preliminary results. Anticancer Res. 29, 3381–3384 (2009)

    Google Scholar 

  2. American Cancer Society: Cancer Facts and Figures 2010. American Cancer Society, Atlanta (2010)

    Google Scholar 

  3. Archip, N., Clatz, O., Whalen, S., Kacher, D., Fedorov, A., Kot, A., Chrisocholdes, N., Jolesz, F., Golby, A., Black, P.M., Warfield, S.K.: Non-rigid alignment of pre-operative MRI, fMRI, and DT-MRI with intra-operative MRI for enhanced visualization and navigation in image-guided neurosurgery. NeuroImage 35, 609–624 (2007)

    Article  Google Scholar 

  4. Audette, M.A., Siddiqi, K., Ferrie, F.P., Peters, T.M.: An integrated range-sensing, segmentation and registration framework for the characterization of intra-surgical brain deformations in image-guided surgery. Comput. Vis. Image Understand. 89, 226–251 (2003)

    Article  Google Scholar 

  5. Bao, P., Sinha, T.K., Chen, C.C.R., Warmath, J.R., Galloway, R.L., Herline, A.J.: A prototype ultrasound-guided laparoscopic radiofrequency ablation system. Surg. Endosc. Other Intervent. Tech. 21, 74–79 (2007)

    Google Scholar 

  6. Bao, P., Warmath, J., Galloway, R., Herline, A.: Ultrasound-to-computer-tomography registration for image-guided laparoscopic liver surgery. Surg. Endosc. 19, 424–429 (2005)

    Article  Google Scholar 

  7. Beller, S., Hnerbein, M., Lange, T., Eulenstein, S., Gebauer, B., Schlag, P.M.: Image-guided surgery of liver metastases by three-dimensional ultrasound-based optoelectronic navigation. Br. J. Surg. 94(7), 866–875 (2007)

    Article  Google Scholar 

  8. Besl, P., McKay, N.: A method for registration of 3-D shapes. IEEE Trans. Pattern Anal. Mach. Intell. 14(2), 239–256 (1992)

    Article  Google Scholar 

  9. Bismuth, H., Castaing, D., Garden, O.J.: The use of operative ultrasound in surgery of primary liver tumors. World J. Surg. 11, 610–614 (1987)

    Article  Google Scholar 

  10. Black, P., Moriarty, T., Alexander, E., Stieg, P., Woodard, E., Gleason, P., Martin, C., Kikinis, R., Schwartz, R., Jolesz, F.: Development and implementation of intraoperative magnetic resonance imaging and its neurosurgical applications. Neurosurgery 41(4), 831–842 (1997)

    Article  Google Scholar 

  11. Blackall, J., King, A., Penney, G., Adam, A., Hawkes, D.: A statistical model of respiratory motion and deformation of the liver. In: Niessen, W., Viergever, M. (eds.) Medical Image Computing and Computer-Assisted Intervention MICCAI 2001. Lecture Notes in Computer Science, vol. 2208, pp. 1338–1340. Springer, Berlin (2001)

    Google Scholar 

  12. Blackall, J., Penney, G., King, A., Hawkes, D.: Alignment of sparse freehand 3-D ultrasound with preoperative images of the liver using models of respiratory motion and deformation. IEEE Trans. Med. Imaging 24(11), 1405–1416 (2005)

    Article  Google Scholar 

  13. Blumgart, L.H., Fong, Y.: Surgical options in the treatment of hepatic metastasis from colorectal cancer. Curr. Probl. Surg. 32(5), 333–421 (1995)

    Article  Google Scholar 

  14. Boresi, A.P., Chong, K.P.: Elasticity in Engineering Mechanics. 2nd edn. Wiley, New York (2000)

    Google Scholar 

  15. Bramley, R., Wang, X.: SPLIB: a library of iterative methods for sparse linear systems. Technical Report, Department of Computer Science, Indiana University (1997)

    Google Scholar 

  16. Bruns, H., Kratschmer, K., Hinz, U., Brechtel, A., Keller, M., Buchler, M.W., Schemmer, P.: Quality of life after curative liver resection: a single center analysis. World J. Gastroenterol. 16, 2388–2395 (2010)

    Article  Google Scholar 

  17. Carter, F.J., Frank, T.G., Davies, P.J., McLean, D., Cuschieri, A.: Measurements and modelling of the compliance of human and porcine organs. Med. Image Anal. 5, 231–236 (2001)

    Article  Google Scholar 

  18. Carter, T.J., Sermesant, M., Cash, D.M., Barratt, D.C., Tanner, C., Hawkes, D.J.: Application of soft tissue modelling to image-guided surgery. Med. Eng. Phys. 27(10), 893–909 (2005)

    Google Scholar 

  19. Cash, D.M., Miga, M.I., Glasgow, S.C., Dawant, B.M., Clements, L.W., Cao, Z., Galloway, R.L., Chapman, W.C.: Concepts and preliminary data toward the realization of image-guided liver surgery. J. Gastrointest. Surg. 11, 844–859 (2007)

    Article  Google Scholar 

  20. Cash, D.M., Miga, M.I., Sinha, T.K., Galloway, R.L., Chapman, W.C.: Compensating for intra-operative soft tissue deformations using incomplete surface data and finite elements. IEEE Trans. Med. Imaging 24, 1479–1491 (2005)

    Article  Google Scholar 

  21. Cash, D.M., Sinha, T.K., Chapman, W.C., Terawaki, H., Dawant, B.M., Galloway, R.L., Miga, M.I.: Incorporation of a laser range scanner into image-guided liver surgery: surface acquisition, registration, and tracking. Med. Phys. 30, 1671–1682 (2003)

    Article  Google Scholar 

  22. Chen, I., Coffey, A.M., Ding, S.Y., Dumpuri, P., Dawant, B.M., Thompson, R.C., Miga, M.I.: Intraoperative brain shift compensation: accounting for dural septa. IEEE Trans. Biomed. Eng. 58, 499–508 (2011)

    Article  Google Scholar 

  23. Chopra, S., Hnerbein, M., Eulenstein, S., Lange, T., Schlag, P., Beller, S.: Development and validation of a three dimensional ultrasound based navigation system for tumor resection. Eur. J. Surg. Oncol. 34(4), 456–461 (2008)

    Article  Google Scholar 

  24. Chopra, S., Rump, J., Schmidt, S., Streitparth, F., Seebauer, C., Schumacher, G., Van der Voort, I., Teichgraber, U.: Imaging sequences for intraoperative MR-guided laparoscopic liver resection in 1.0-T high field open MRI. Eur. Radiol. 19, 2191–2196 (2009)

    Google Scholar 

  25. Clatz, O., Delingette, H., Talos, I.F., Golby, A.J., Kikinis, R., Jolesz, F.A., Ayache, N., Warfield, S.K.: Robust nonrigid registration to capture brain shift from intraoperative MRI. IEEE Trans. Med. Imaging 24, 1417–1427 (2005)

    Article  Google Scholar 

  26. Clements, L.W., Chapman, W.C., Dawant, B.M., Galloway, R.L., Miga, M.I.: Robust surface registration using salient anatomical features for image-guided liver surgery: algorithm and validation. Med. Phys. 35(6), 2528–2540 (2008)

    Article  Google Scholar 

  27. Clements, L.W., Dumpuri, P., Chapman, R.L., Galloway, R.L., Jr., Miga, M.I.: Atlas-based method for model updating in image-guided liver surgery. In: Cleary, K.R., Miga, M.I. (eds.) Medical Imaging 2007: Visualization, Image-Guided Procedures, and Modeling, vol. 6509. SPIE, Nashville (2007)

    Google Scholar 

  28. Conversano, F., Franchini, R., Demitri, C., Massoptier, L., Montagna, F., Maffezzoli, A., Malvasi, A., Casciaro, S.: Hepatic vessel segmentation for 3D planning of liver surgery: experimental evaluation of a new fully automatic algorithm. Acad. Radiol. 18(4), 461–470 (2011)

    Article  Google Scholar 

  29. Davatzikos, C., Shen, D.G., Mohamed, A., Kyriacou, S.K.: A framework for predictive modeling of anatomical deformations. IEEE Trans. Med. Imaging 20, 836–843 (2001)

    Article  Google Scholar 

  30. Dawant, B.M., Li, R., Lennon, B., Li, S.: Semi-automatic segmentation of the liver and its evaluation on the MICCAI 2007 grand challenge data set. In: Proceedings of the MICCAI Worksop on 3-D Segmentation Clinic: A Grand Challenge, pp. 215–221. Springer, Berlin (2007)

    Google Scholar 

  31. DeMatteo, R.P., Palese, C., Jarnagin, W.R., Sun, R.L., Blumgart, L.H., Fong, Y.: Anatomic segmental hepatic resection is superior to wedge resection as an oncologic operation for colorectal liver metastases. J. Gastrointest. Surg. 4(2), 178–184 (2000)

    Article  Google Scholar 

  32. DeWitt, J., LeBlanc, J., McHenry, L., Ciaccia, D., Imperiale, T., Chappo, J., Cramer, H., McGreevy, K., Chriswell, M., Sherman, S.: Endoscopic ultrasound-guided fine needle aspiration cytology of solid liver lesions: a large single-center experience. Am. J. Gastroenterol. 98, 1976–1981 (2003)

    Google Scholar 

  33. Dumpuri, P., Clements, L.W., Dawant, B.M., Miga, M.I.: Model-updated image-guided liver surgery: preliminary results using surface characterization. Prog. Biophys. Mol. Biol. 103(2–3), 197–207 (2010)

    Article  Google Scholar 

  34. Dumpuri, P., Thompson, R.C., Cao, A.Z., Ding, S.Y., Garg, I., Dawant, B.M., Miga, M.I.: A fast and efficient method to compensate for brain shift for tumor resection therapies measured between preoperative and postoperative tomograms. IEEE Trans. Biomed. Eng. 57, 1285–1296 (2010)

    Article  Google Scholar 

  35. Fitpatrick, J.M., West, J.B., Maurer, C.R.: Predicting error in rigid-body point-based registration. IEEE Trans. Med. Imaging 17, 694–702 (1998)

    Article  Google Scholar 

  36. Frauenfelder, T., Tutic, M., Weder, W., Gtti, R., Stahel, R., Seifert, B., Opitz, I.: Volumetry: an alternative to assess therapy response for malignant pleural mesothelioma? Eur. Respir. J. 38(1), 162–168 (2011)

    Google Scholar 

  37. Frericks, B.B., Caldarone, F.C., Nashan, B., Savellano, D.H., Stamm, G., Kirchhoff, T.D., Shin, H.O., Schenk, A., Selle, D., Spindler, W., Klempnauer, J., Peitgen, H., Galanski, M.: 3D CT modeling of hepatic vessel architecture and volume calculation in living donated liver transplantation. Eur. Radiol. 14, 326–333 (2004)

    Article  Google Scholar 

  38. Galloway, R.L., Jr., Peters, T.M.: Overview and history of image-guided interventions. In: Peters, T.M., Cleary, K. (eds.) Image-Guided Interventions: Technology and Applications. Springer, Berlin (2008)

    Google Scholar 

  39. Gao, Z., Lister, K., Desai, J.P.: Constitutive modeling of liver tissue: experiment and theory. Ann. Biomed. Eng. 38, 505–516 (2010)

    Google Scholar 

  40. Garcea, G., Ong, S.L., Maddern, G.J.: Inoperable colorectal liver metastases: a declining entity? Eur. J. Cancer 44, 2555–2572 (2008)

    Google Scholar 

  41. Garden, J.O., Bismuth, H.: Anatomy of the liver. In: Carter, D.C. (ed.) Hepatobiliary and Pancreatic Surgery, 5th edn., pp. 1–4. Chapman and Hall Medical, London (1996)

    Google Scholar 

  42. Glombitza, G., Lamade, W., Demiris, A.M., Gopfert, M.R., Mayer, A., Bahner, M.L., Meinzer, H.P., Richter, G., Lehnert, T., Herfarth, C.: Virtual planning of liver resections: image processing, visualization and volumetric evaluation. Int. J. Med. Inf. 53(2–3), 225–237 (1999)

    Article  Google Scholar 

  43. Gobbi, D., Comeau, R., Peters, T.: Ultrasound/MRI overlay with image warping for neurosurgery. In: Delp, S., DiGoia, A., Jaramaz, B. (eds.) Medical Image Computing and Computer-Assisted Intervention MICCAI 2000. Lecture Notes in Computer Science, vol. 1935, pp. 29–53. Springer, Berlin (2000)

    Google Scholar 

  44. Guimaraes, C.M., Correia, M.M., Baldisserotto, M., de Queiroz Aires, E.P., Coelho, J.F.: Intraoperative ultrasonography of the liver in patients with abdominal tumors: a new approach. J. Ultrasound Med. 23(12), 1549–1555 (2004)

    Google Scholar 

  45. Hansen, C., Wieferich, J., Ritter, F., Rieder, C., Peitgen, H.O.: Illustrative visualization of 3D planning models for augmented reality in liver surgery. Int. J. Comput. Assist. Radiol. Surg. 5, 133–141 (2010)

    Article  Google Scholar 

  46. Hartov, A., Roberts, D.W., Paulsen, K.D.: A comparative analysis of coregistered ultrasound and magnetic resonance imaging in neurosurgery. Neurosurgery 62, 91–99 (2008)

    Article  Google Scholar 

  47. Heizmann, O., Zidowitz, S., Bourquain, H., Potthast, S., Peitgen, H.O., Oertli, D., Kettelhack, C.: Assessment of intraoperative liver deformation during hepatic resection: prospective clinical study. World J. Surg. 34, 1887–1893 (2010)

    Article  Google Scholar 

  48. Herline, A.J., Stefansic, J.D., Debelak, J.P., Hartmann, S.L., Pinson, C.W., Galloway, R.L., Chapman, W.C.: Image-guided surgery: preliminary feasibility studies of frameless stereotactic liver surgery. Arch. Surg. 134(6), 644–650 (1999)

    Article  Google Scholar 

  49. Hermoye, L., Laamari-Azjal, I., Cao, Z.J., Annet, L., Lerut, J., Dawant, B.M., Beers, B.E.V.: Liver segmentation in living liver transplant donors: comparison of semiautomatic and manual methods. Radiology 234, 171–178 (2005)

    Article  Google Scholar 

  50. Ito, K., Govindarajan, A., Ito, H., Fong, Y.: Surgical treatment of hepatic colorectal metastasis evolving role in the setting of improving systemic therapies and ablative treatments in the 21st century. Cancer J. 16, 103–110 (2010)

    Article  Google Scholar 

  51. Jarnagin, W.R., Gonen, M., Fong, Y., DeMatteo, R.P., Ben-Porat, L., Little, S., Corvera, C., Weber, S., Blumgart, L.: Improvement in peroperative outcome after hepatic resection: analysis of 1803 consecutive cases over the past decade. Ann. Surg. 236, 397–406 (2002)

    Article  Google Scholar 

  52. Je, H., Choi, E., Ahn, S., Lee, S., Park, S., Kim, J.: Analysis of respiratory induced liver motion using fiducial marker in stereotactic radiosurgery for liver tumor. Int. J. Radiat. Oncol. Biol. Phys. 72, S543 (2008)

    Article  Google Scholar 

  53. Ji, S.B., Wu, Z.J., Hartov, A., Roberts, D.W., Paulsen, K.D.: Mutual-information-based image to patient re-registration using intraoperative ultrasound in image-guided neurosurgery. Med. Phys. 35, 4612–4624 (2008)

    Article  Google Scholar 

  54. Kleemann, M., Hildebrand, P., Birth, M., Bruch, H.: Laparoscopic ultrasound navigation in liver surgery: technical aspects and accuracy. Surg. Endosc. 20, 726–729 (2006)

    Article  Google Scholar 

  55. Kopetz, S., Chang, G.J., Overman, M.J., Eng, C., Sargent, D.J., Larson, D.W., Grothey, A., Vauthey, J.N., Nagorney, D.M., McWilliams, R.R.: Improved survival in metastatic colorectal cancer is associated with adoption of hepatic resection and improved chemotherapy. J. Clin. Oncol. 27, 3677–3683 (2009)

    Article  Google Scholar 

  56. Lamade, W., Glombitza, G., Fischer, L., Chiu, P., Cardenas, C.E., Sr., Thorn, M., Meinzer, H.P., Grenacher, L., Bauer, H., Lehnert, T., Herfarth, C.: The impact of 3-dimensional reconstructions on operation planning in liver surgery. Arch. Surg. 135(11), 1256–1261 (2000)

    Google Scholar 

  57. Lamata, P., Lamata, F., Sojar, V., Makowski, P., Massoptier, L., Casciaro, S., Ali, W., Stüdeli, T., Declerck, J., Elle, O., Edwin, B.: Use of the resection map system as guidance during hepatectomy. Surg. Endosc. 24, 2327–2337 (2010)

    Article  Google Scholar 

  58. Lang, H., Radtke, A., Hindennach, M., Schroeder, T., Fruhauf, N.R., Malago, M., Bourquain, H., Peitgen, H.O., Oldhafer, K.J., Broelsch, C.E.: Impact of virtual tumor resection and computer-assisted risk analysis on operation planning and intraoperative strategy in major hepatic resection. Arch. Surg. 140(7), 629–638 (2005)

    Article  Google Scholar 

  59. Lang, H., Radtke, A., Liu, C., Frhauf, N.R., Peitgen, H.O., Broelsch, C.E.: Extended left hepatectomymodified operation planning based on three-dimensional visualization of liver anatomy. Langenbecks Arch. Surg. 389, 306–310 (2004)

    Article  Google Scholar 

  60. Lange, T., Eulenstein, S., Hunerbein, M., Lamecker, H., Schlag, P.M.: Augmenting intraoperative 3D ultrasound with preoperative models for navigation in liver surgery. In: Barillot, C., Haynor, D., Hellier, P. (eds.) Medical Image Computing and Computer-Assisted Intervention MICCAI 2004. Lecture Notes in Computer Science, vol. 3217, pp. 534–541. Springer, Berlin (2004)

    Google Scholar 

  61. Lange, T., Papenberg, N., Heldmann, S., Modersitzki, J., Fischer, B., Lamecker, H., Schlag, P.: 3D ultrasound-CT registration of the liver using combined landmark-intensity information. Int. J. Comput. Assist. Radiol. Surg. 4, 79–88 (2009)

    Article  Google Scholar 

  62. Lange, T., Wenckebach, T.H., Lamecker, H., Seebass, M., Hunerbein, M., Eulenstein, S., Gebauer, B., Schlag, P.M.: Registration of different phases of contrast-enhanced CT/MRI data for computer-assisted liver surgery planning: evaluation of state-of-the-art methods. Int. J. Med. Robotics Comput. Assist. Surg. 1, 6–20 (2005)

    Article  Google Scholar 

  63. Lapidus, L., Pinder, G.F.: Numerical Solution of Partial Differential Equations in Science and Engineering. Wiley, New York (1982)

    MATH  Google Scholar 

  64. Lathrop, R.A., Hackworth, D.M., Webster, R.J.: Minimally invasive holographic surface scanning for soft-tissue image registration. IEEE Trans. Biomed. Eng. 57(6), 1497–1506 (2010)

    Article  Google Scholar 

  65. Laurent, C., Sa Cunha, A., Couderc, P., Rullier, E., Saric, J.: Influence of postoperative morbidity on long-term survival following liver resection for colorectal metastases. Br. J. Surg. 90(9), 1131–1136 (2003)

    Article  Google Scholar 

  66. Li, S., Waite, J., Lennon, B., Li, R., Dawant, B., Stefansic, J.: Development of preoperative liver and vascular system segmentation and modeling tool for image-guided surgery and surgical planning. In: Cleary, K.R. Miga, M.I. (eds.) Medical Imaging 2008: Visualization, Image-Guided Procedures, and Modeling, vol. 6918. SPIE, , San Diego (2008)

    Google Scholar 

  67. Liu, Z., Bilston, L.: On the viscoelastic character of liver tissue: experiments and modelling of the linear behaviour. Biorheology 37, 191–201 (2000)

    Google Scholar 

  68. Lorensen, W.E., Cline, H.E.: Marching cubes: a high resolution 3D surface construction algorithm. In: Proceedings of the 14th Annual Conference on Computer Graphics and Interactive Techniques, SIGGRAPH ’87, pp. 163–169. ACM, New York (1987)

    Google Scholar 

  69. Lu, Q., Luo, Y., Yuan, C.X., Zeng, Y., Wu, H., Lei, Z., Zhong, Y., Fan, Y.T., Wang, H.H.: Value of contrast-enhanced intraoperative ultrasound for cirrhotic patients with hepatocellular carcinoma: a report of 20 cases. World J. Gastroenterol. 14, 4005–4010 (2008)

    Article  Google Scholar 

  70. Lunn, K.E., Paulsen, K.D., Liu, F.H., Kennedy, F.E., Hartov, A., Roberts, D.W.: Data-guided brain deformation modeling: evaluation of a 3-D adjoint inversion method in porcine studies. IEEE Trans. Biomed. Eng. 53, 1893–1900 (2006)

    Article  Google Scholar 

  71. Lynch, D.R.: Numerical Partial Differential Equations for Environmental Scientists and Engineers. Springer, New York (2005)

    MATH  Google Scholar 

  72. Ma, B., Ellis, R.E.: Robust registration for computer-integrated orthopedic surgery: laboratory validation and clinical experience. Med. Image Anal. 7(3), 237–250 (2003)

    Article  Google Scholar 

  73. Martin, R., Husheck, S., Scoggins, C., McMasters, K.: Intraoperative magnetic resonance imaging for ablation of hepatic tumors. Surg. Endosc. 20, 1536–1542 (2006)

    Article  Google Scholar 

  74. Martin, R.C.: Intraoperative magnetic resonance imaging ablation of hepatic tumors. Am. J. Surg. 189, 388–394 (2005)

    Article  Google Scholar 

  75. Maurer, C.R., Hill, D.L.G., Maciunas, R.J., Barwise, J.A., Fitzpatrick, J.M., Wang, M.: Measurement of intraoperative brain surface deformation under a craniotomy. In: Wells, W., Colchester, A., Delp, S. (eds.) Medical Image Computing and Computer-Assisted Intervention MICCAI98. Lecture Notes in Computer Science, vol. 1496, pp. 51–62. Springer, Berlin (1998)

    Google Scholar 

  76. Melvin, J.W., Stalnaker, R.L., Roberts, V.L., Trollope, M.L.: Impact injury mechanisms in abdominal organs. SAE Trans. 730968, 115–126 (1973)

    Google Scholar 

  77. Miga, M.I., Dumpuri, P., Simpson, A.L., Weis, J.A., Jarnagin, W.R.: The sparse data extrapolation problem: strategies for soft-tissue correction for image-guided liver surgery. In: Wong, K.H., Holmes, D.R., III (eds.) Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, vol. 7964. SPIE, San Diego (2011)

    Google Scholar 

  78. Miga, M.I., Roberts, D.W., Kennedy, F.E., Platenik, L.A., Hartov, A., Lunn, K.E., Paulsen, K.D.: Modeling of retraction and resection for intraoperative updating of images during surgery. Neurosurgery 49, 75–85 (2001)

    Google Scholar 

  79. Miller, K.: Constitutive modelling of abdominal organs. J. Biomech. 33, 367–373 (2000)

    Article  Google Scholar 

  80. Moche, M., Schmitgen, A., Schneider, J.P., Bublat, M., Schulz, T., Voerkel, C., Trantakis, C., Bennek, J., Kahn, T., Busse, H.: First clinical experience with extended planning and navigation in an interventional MRI unit. Rofo-Fortschritte Auf Dem Gebiet Der Rontgenstrahlen Und Der Bildgebenden Verfahren 176, 1013–1020 (2004)

    Article  Google Scholar 

  81. Nakamoto, M., Hirayama, H., Sato, Y., Konishi, K., Kakeji, Y., Hashizume, M., Tamura, S.: Recovery of respiratory motion and deformation of the liver using laparoscopic freehand 3D ultrasound system. Med. Image Anal. 11(5), 429–442 (2007)

    Article  Google Scholar 

  82. Nakamoto, M., Sato, Y., Miyamoto, M., Nakamjima, Y., Konishi, K., Shimada, M., Hashizume, M., Tamura, S.: 3D ultrasound system using a magneto-optic hybrid tracker for augmented reality visualization in laparoscopic liver surgery. In: Dohi, T., Kikinis, R. (eds.) Medical Image Computing and Computer-Assisted Intervention MICCAI 2002. Lecture Notes in Computer Science, vol. 2489, pp. 148–155. Springer, Berlin (2002)

    Google Scholar 

  83. Nicolau, S., Pennec, X., Soler, L., Buy, X., Gangi, A., Ayache, N., Marescaux, J.: An augmented reality system for liver thermal ablation: design and evaluation on clinical cases. Med. Image Anal. 13(3), 494–506 (2009)

    Article  Google Scholar 

  84. Nikfarjam, M., Shereef, S., Kimchi, E., Gusani, N., Jiang, Y., Avella, D., Mahraj, R., Staveley-OCarroll, K.: Survival outcomes of patients with colorectal liver metastases following hepatic resection or ablation in the era of effective chemotherapy. Ann. Surg. Oncol. 16, 1860–1867 (2009)

    Article  Google Scholar 

  85. Nimsky, C., Ganslandt, O., Cerny, S., Hastreiter, P., Greiner, G., Fahlbusch, R.: Quantification of, visualization of, and compensation for brain shift using intraoperative magnetic resonance imaging. Neurosurgery 47(5), 1070–1079 (2000)

    Article  Google Scholar 

  86. Norero, E., Jarufe, N., Butte, J.M., Norero, B., Duarte, I., Torres, J., Pinedo, G., Lopez, F., Guerra, J.F., Ibanez, L., Zuniga, A., Guzman, S., Martinez, J.: Outcome of surgical treatment of liver metastases from colorectal cancer. Rev. Med. Chile 137, 487–496 (2009)

    Google Scholar 

  87. Nougaret, S., Jung, B., Aufort, S., Chanques, G., Jaber, S., Gallix, B.: Adrenal gland volume measurement in septic shock and control patients: a pilot study. Eur. Radiol. 20, 2348–2357 (2010)

    Article  Google Scholar 

  88. Ong, R.E., Ou, J.J., Miga, M.I.: Non-rigid registration of breast surfaces using the Laplace and diffusion equations. Biomed. Eng. Online 9, 2 (2010)

    Google Scholar 

  89. Patriciu, A., Awad, M., Solomon, S., Choti, M., Mazilu, D., Kavoussi, L., Stoianovici, D.: Robotic assisted radio-frequency ablation of liver tumors randomized patient study. In: Duncan, J., Gerig, G. (eds.) Medical Image Computing and Computer-Assisted Intervention MICCAI 2005. Lecture Notes in Computer Science, vol. 3750, pp. 526–533. Springer, Berlin (2005)

    Google Scholar 

  90. Penney, G., Blackall, J., Hamady, M., Sabharwal, T., Adam, A., Hawkes, D.: Registration of freehand 3D ultrasound and magnetic resonance liver images. Med. Image Anal. 8(1), 81–91 (2004)

    Article  Google Scholar 

  91. Peterhans, M., vom Berg, A., Dagon, B., Inderbitzin, D., Baur, C., Candinas, D., Weber, S.: A navigation system for open liver surgery: design, workflow and first clinical applications. Int. J. Med. Robotics Comput. Assist. Surg. 7(1), 7–16 (2011)

    Article  Google Scholar 

  92. Petrowsky, H., Breitenstein, S., Slankamenac, K., Vetter, D., Lehmann, K., Heinrich, S., DeOliveira, M.L., Jochum, W., Weishaupt, D., Frauenfelder, T., et al.: Effects of pentoxifylline on liver regeneration: a double-blinded, randomized, controlled trial in 101 patients undergoing major liver resection. Annals of Surgery 252(5), 813–822 (2010)

    Google Scholar 

  93. Pheiffer, T.S., Lennon, B., Simpson, A.L., Miga, M.I.: Development of a novel laser range scanner. In: Wong, K.H. Holmes, D.R., III (eds.) Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, vol. 7964. SPIE, San Diego (2011)

    Google Scholar 

  94. Pianka, F., Baumhauer, M., Stein, D., Radeleff, B., Schmied, B., Meinzer, H.P., Mller, S.: Liver tissue sparing resection using a novel planning tool. Langenbecks Arch. Surg. 396, 201–208 (2011)

    Article  Google Scholar 

  95. Pua, E., Fronheiser, M., Noble, J., Light, E., Wolf, P., von Allmen, D., Smith, S.: 3-D ultrasound guidance of surgical robotics: a feasibility study. IEEE Trans. Ultrason. Ferroelectr. Freq. Control 53(11), 1999–2008 (2006)

    Article  Google Scholar 

  96. Risholm, P., Golby, A.J., Wells, W.: Multimodal image registration for preoperative planning and image-guided neurosurgical procedures. Neurosurg. Clin. N. Am. 22, 197–206 (2011)

    Article  Google Scholar 

  97. Rosen, J., Brown, J.D., De, S., Sinanan, M., Hannaford, B.: Biomechanical properties of abdominal organs in vivo and postmortem under compression loads. J. Biomech. Eng. 130, 021020-1–021020-17 (2008)

    Google Scholar 

  98. Rueckert, D., Sonoda, L.I., Hayes, C., Hill, D.L.G., Leach, M.O., Hawkes, D.J.: Nonrigid registration using free-form deformations: application to breast MR images. IEEE Trans. Med. Imaging 18, 712–721 (1999)

    Article  Google Scholar 

  99. Schindl, M.J., Redhead, D.N., Fearon, K.C.H., Garden, O.J., Wigmore, S.J.: The value of residual liver volume as a predictor of hepatic dysfunction and infection after major liver resection. Gut 54, 289–296 (2005)

    Article  Google Scholar 

  100. Schwartz, J.M., Denninger, M., Rancourt, D., Moisan, C., Laurendeau, D.: Modelling liver tissue properties using a non-linear visco-elastic model for surgery simulation. Med. Image Anal. 9, 103–112 (2005)

    Article  Google Scholar 

  101. Selle, D., Preim, B., Schenk, A., Peitgen, H.: Analysis of vasculature for liver surgical planning. IEEE Trans. Med. Imaging 21(11), 1344–1357 (2002)

    Article  Google Scholar 

  102. Sinha, T.K., Dawant, B.M., Duay, V., Cash, D.M., Weil, R.J., Thompson, R.C., Weaver, K.D., Miga, M.I.: A method to track cortical surface deformations using a laser range scanner. IEEE Trans. Med. Imaging 24(6), 767–781 (2005)

    Article  Google Scholar 

  103. Sirat, G., Psaltis, D.: Conoscopic holography. Optics Lett. 10(1), 4–6 (1985)

    Article  Google Scholar 

  104. Stintzing, S., Hoffmann, R.T., Heinemann, V., Kufeld, M., Rentsch, M., Muacevic, A.: Radiosurgery of liver tumors: value of robotic radiosurgical device to treat liver tumors. Ann. Surg. Oncol. 17, 2877–2883 (2010)

    Article  Google Scholar 

  105. Sullivan, J.M., Charron, G., Paulsen, K.D.: A three-dimensional mesh generator for arbitrary multiple material domains. Finite Elem. Anal. Des. 25(3–4), 219–241 (1997)

    Article  MATH  Google Scholar 

  106. Sun, H., Lunn, K.E., Farid, H., Wu, Z.J., Roberts, D.W., Hartov, A., Paulsen, K.D.: Stereopsis-guided brain shift compensation. IEEE Trans. Med. Imaging 24, 1039–1052 (2005)

    Article  Google Scholar 

  107. Suthau, T., Vetter, M., Hassenpflug, P., Meinzer, H.P., Hellwich, O.: A concept work for augmented reality visualization based on a medical application in liver surgery. In: Proceedings of the ISPRS Commision V Symposium, pp. 274–280 (2002)

    Google Scholar 

  108. Torzilli, G., Botea, F., Procopio, F., Donadon, M., Balzarini, L., Lutman, F., Calliada, F., Montorsi, M.: Use of contrast-enhanced intraoperative ultrasonography during liver surgery for colorectal cancer liver metastases—its impact on operative outcome: analysis of a prospective cohort study. Eur. J. Cancer Suppl. 6(11), 16–23 (2008)

    Article  Google Scholar 

  109. Valdes, P.A., Fan, X.Y., Ji, S.B., Harris, B.T., Paulsen, K.D., Roberts, D.W.: Estimation of brain deformation for volumetric image updating in protoporphyrin IX fluorescence-guided resection. Stereot. Funct. Neurosurg. 88, 1–10 (2010)

    Article  Google Scholar 

  110. Vigneron, L.M., Warfield, S.K., Robe, P.A., Verly, J.G.: 3D XFEM-based modeling of retraction for preoperative image update. Comput. Aided Surg. 16, 121–134 (2011)

    Article  Google Scholar 

  111. Widmann, G., Schullian, P., Haidu, M., Wiedermann, F.J., Bale, R.: Respiratory motion control for stereotactic and robotic liver interventions. Int. J. Med. Robotics Comput. Assist. Surg. 6(3), 343–349 (2010)

    Article  Google Scholar 

  112. Wolf, I., van Rikxoort, E., Raicu, D.S., Rau, A.M., Nemeth, G., Meinzer, H., Li, S., Li, R., Lennon, B., Lee, J., Lange, T., Lamecker, H., Rousson, M., Rusko, L., Wimmer, A., Waite, J., Susomboon, R., Soza, G., Sorantin, E., Slagmolen, P., Shimizu, A., Seghers, D., Schmidt, G., Saddi, K., Kobatake, H., Kitney, R., Kainmueller, D., Bello, F., Bekes, G., Beichel, R., Becker, C., Beck, A., Bauer, C., Aurich, V., Arzhaeva, Y., Styner, M., van Ginneken, B., Binnig, G., Bischof, H., Hornegger, J., Grenacher, L., Furukawa, D., Furst, J., Fidrich, M., Dawant, B., Cordova, A., Chi, Y., Cashman, P., Bornik, A., Heimann, T.: Comparison and evaluation of methods for liver segmentation from CT datasets. IEEE Trans. Med. Imaging 28(8), 1251–1265 (2009)

    Google Scholar 

  113. Yang, J.D., Roberts, L.R.: Hepatocellular carcinoma: a global view. Nat. Rev. Gastroenterol. Hepatol. 7, 448–458 (2010)

    Article  Google Scholar 

  114. Zhong, H., Peters, T.: A real time hyperelastic tissue model. Comput. Methods Biomech. Biomed. Eng. 10, 185–193 (2007)

    Article  Google Scholar 

Download references

Acknowledgments

This work is funded by the National Institutes of Health grant R01 CA162477 of the National Cancer Institute. We would like to acknowledge that data was provided by Pathfinder Therapeutics Inc., Nashville, TN and is associated with National Cancer Institute Grant # CA119502. For disclosure, Dr. Miga is a co-founder and holds equity in Pathfinder Therapeutics Inc.

Author information

Authors and Affiliations

  1. Vanderbilt University, Nashville, TN, USA

    Amber L. Simpson & Michael I. Miga

  2. Pathfinder Therapeutics Inc., Nashville, TN, USA

    Prashanth Dumpuri

  3. Memorial Sloan Kettering Cancer Center, New York, NY, USA

    William R. Jarnagin

Authors
  1. Amber L. Simpson
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Prashanth Dumpuri
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. William R. Jarnagin
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Michael I. Miga
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Michael I. Miga .

Editor information

Editors and Affiliations

  1. , TIMC Laboratory, Joseph Fourier University, La Tronche cedex, 38706, France

    Yohan Payan

Rights and permissions

Reprints and permissions

Copyright information

© 2012 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Simpson, A.L., Dumpuri, P., Jarnagin, W.R., Miga, M.I. (2012). Model-Assisted Image-Guided Liver Surgery Using Sparse Intraoperative Data. In: Payan, Y. (eds) Soft Tissue Biomechanical Modeling for Computer Assisted Surgery. Studies in Mechanobiology, Tissue Engineering and Biomaterials, vol 11. Springer, Berlin, Heidelberg. https://doi.org/10.1007/8415_2012_117

Download citation

  • DOI: https://doi.org/10.1007/8415_2012_117

  • Published:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-29013-8

  • Online ISBN: 978-3-642-29014-5

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation