Locally rigid, vessel-based registration for laparoscopic liver surgery.
Identifieur interne : 000321 ( PubMed/Corpus ); précédent : 000320; suivant : 000322Locally rigid, vessel-based registration for laparoscopic liver surgery.
Auteurs : Yi Song ; Johannes Totz ; Steve Thompson ; Stian Johnsen ; Dean Barratt ; Crispin Schneider ; Kurinchi Gurusamy ; Brian Davidson ; Sébastien Ourselin ; David Hawkes ; Matthew J. ClarksonSource :
- International journal of computer assisted radiology and surgery [ 1861-6429 ] ; 2015.
Abstract
Laparoscopic liver resection has significant advantages over open surgery due to less patient trauma and faster recovery times, yet is difficult for most lesions due to the restricted field of view and lack of haptic feedback. Image guidance provides a potential solution but is challenging in a soft deforming organ such as the liver. In this paper, we therefore propose a laparoscopic ultrasound (LUS) image guidance system and study the feasibility of a locally rigid registration for laparoscopic liver surgery.
DOI: 10.1007/s11548-015-1236-8
PubMed: 26092658
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Locally rigid, vessel-based registration for laparoscopic liver surgery.</title><author><name sortKey="Song, Yi" sort="Song, Yi" uniqKey="Song Y" first="Yi" last="Song">Yi Song</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK. yi.song@ucl.ac.uk.</nlm:affiliation></affiliation></author><author><name sortKey="Totz, Johannes" sort="Totz, Johannes" uniqKey="Totz J" first="Johannes" last="Totz">Johannes Totz</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Thompson, Steve" sort="Thompson, Steve" uniqKey="Thompson S" first="Steve" last="Thompson">Steve Thompson</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Johnsen, Stian" sort="Johnsen, Stian" uniqKey="Johnsen S" first="Stian" last="Johnsen">Stian Johnsen</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Barratt, Dean" sort="Barratt, Dean" uniqKey="Barratt D" first="Dean" last="Barratt">Dean Barratt</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Schneider, Crispin" sort="Schneider, Crispin" uniqKey="Schneider C" first="Crispin" last="Schneider">Crispin Schneider</name><affiliation><nlm:affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Gurusamy, Kurinchi" sort="Gurusamy, Kurinchi" uniqKey="Gurusamy K" first="Kurinchi" last="Gurusamy">Kurinchi Gurusamy</name><affiliation><nlm:affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Davidson, Brian" sort="Davidson, Brian" uniqKey="Davidson B" first="Brian" last="Davidson">Brian Davidson</name><affiliation><nlm:affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Ourselin, Sebastien" sort="Ourselin, Sebastien" uniqKey="Ourselin S" first="Sébastien" last="Ourselin">Sébastien Ourselin</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Hawkes, David" sort="Hawkes, David" uniqKey="Hawkes D" first="David" last="Hawkes">David Hawkes</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Clarkson, Matthew J" sort="Clarkson, Matthew J" uniqKey="Clarkson M" first="Matthew J" last="Clarkson">Matthew J. Clarkson</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK. m.clarkson@ucl.ac.uk.</nlm:affiliation></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2015">2015</date><idno type="RBID">pubmed:26092658</idno><idno type="pmid">26092658</idno><idno type="doi">10.1007/s11548-015-1236-8</idno><idno type="wicri:Area/PubMed/Corpus">000321</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Locally rigid, vessel-based registration for laparoscopic liver surgery.</title><author><name sortKey="Song, Yi" sort="Song, Yi" uniqKey="Song Y" first="Yi" last="Song">Yi Song</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK. yi.song@ucl.ac.uk.</nlm:affiliation></affiliation></author><author><name sortKey="Totz, Johannes" sort="Totz, Johannes" uniqKey="Totz J" first="Johannes" last="Totz">Johannes Totz</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Thompson, Steve" sort="Thompson, Steve" uniqKey="Thompson S" first="Steve" last="Thompson">Steve Thompson</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Johnsen, Stian" sort="Johnsen, Stian" uniqKey="Johnsen S" first="Stian" last="Johnsen">Stian Johnsen</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Barratt, Dean" sort="Barratt, Dean" uniqKey="Barratt D" first="Dean" last="Barratt">Dean Barratt</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Schneider, Crispin" sort="Schneider, Crispin" uniqKey="Schneider C" first="Crispin" last="Schneider">Crispin Schneider</name><affiliation><nlm:affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Gurusamy, Kurinchi" sort="Gurusamy, Kurinchi" uniqKey="Gurusamy K" first="Kurinchi" last="Gurusamy">Kurinchi Gurusamy</name><affiliation><nlm:affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Davidson, Brian" sort="Davidson, Brian" uniqKey="Davidson B" first="Brian" last="Davidson">Brian Davidson</name><affiliation><nlm:affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Ourselin, Sebastien" sort="Ourselin, Sebastien" uniqKey="Ourselin S" first="Sébastien" last="Ourselin">Sébastien Ourselin</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Hawkes, David" sort="Hawkes, David" uniqKey="Hawkes D" first="David" last="Hawkes">David Hawkes</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</nlm:affiliation></affiliation></author><author><name sortKey="Clarkson, Matthew J" sort="Clarkson, Matthew J" uniqKey="Clarkson M" first="Matthew J" last="Clarkson">Matthew J. Clarkson</name><affiliation><nlm:affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK. m.clarkson@ucl.ac.uk.</nlm:affiliation></affiliation></author></analytic><series><title level="j">International journal of computer assisted radiology and surgery</title><idno type="eISSN">1861-6429</idno><imprint><date when="2015" type="published">2015</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Laparoscopic liver resection has significant advantages over open surgery due to less patient trauma and faster recovery times, yet is difficult for most lesions due to the restricted field of view and lack of haptic feedback. Image guidance provides a potential solution but is challenging in a soft deforming organ such as the liver. In this paper, we therefore propose a laparoscopic ultrasound (LUS) image guidance system and study the feasibility of a locally rigid registration for laparoscopic liver surgery.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="In-Process"><PMID Version="1">26092658</PMID><DateCreated><Year>2015</Year><Month>11</Month><Day>12</Day></DateCreated><DateRevised><Year>2015</Year><Month>11</Month><Day>20</Day></DateRevised><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">1861-6429</ISSN><JournalIssue CitedMedium="Internet"><Volume>10</Volume><Issue>12</Issue><PubDate><Year>2015</Year><Month>Dec</Month></PubDate></JournalIssue><Title>International journal of computer assisted radiology and surgery</Title><ISOAbbreviation>Int J Comput Assist Radiol Surg</ISOAbbreviation></Journal><ArticleTitle>Locally rigid, vessel-based registration for laparoscopic liver surgery.</ArticleTitle><Pagination><MedlinePgn>1951-61</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1007/s11548-015-1236-8</ELocationID><Abstract><AbstractText Label="PURPOSE" NlmCategory="OBJECTIVE">Laparoscopic liver resection has significant advantages over open surgery due to less patient trauma and faster recovery times, yet is difficult for most lesions due to the restricted field of view and lack of haptic feedback. Image guidance provides a potential solution but is challenging in a soft deforming organ such as the liver. In this paper, we therefore propose a laparoscopic ultrasound (LUS) image guidance system and study the feasibility of a locally rigid registration for laparoscopic liver surgery.</AbstractText><AbstractText Label="METHODS" NlmCategory="METHODS">We developed a real-time segmentation method to extract vessel centre points from calibrated, freehand, electromagnetically tracked, 2D LUS images. Using landmark-based initial registration and an optional iterative closest point (ICP) point-to-line registration, a vessel centre-line model extracted from preoperative computed tomography (CT) is registered to the ultrasound data during surgery.</AbstractText><AbstractText Label="RESULTS" NlmCategory="RESULTS">Using the locally rigid ICP method, the RMS residual error when registering to a phantom was 0.7 mm, and the mean target registration error (TRE) for two in vivo porcine studies was 3.58 and 2.99 mm, respectively. Using the locally rigid landmark-based registration method gave a mean TRE of 4.23 mm using vessel centre lines derived from CT scans taken with pneumoperitoneum and 6.57 mm without pneumoperitoneum.</AbstractText><AbstractText Label="CONCLUSION" NlmCategory="CONCLUSIONS">In this paper we propose a practical image-guided surgery system based on locally rigid registration of a CT-derived model to vascular structures located with LUS. In a physical phantom and during porcine laparoscopic liver resection, we demonstrate accuracy of target location commensurate with surgical requirements. We conclude that locally rigid registration could be sufficient for practically useful image guidance in the near future.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Song</LastName><ForeName>Yi</ForeName><Initials>Y</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK. yi.song@ucl.ac.uk.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Totz</LastName><ForeName>Johannes</ForeName><Initials>J</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Thompson</LastName><ForeName>Steve</ForeName><Initials>S</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Johnsen</LastName><ForeName>Stian</ForeName><Initials>S</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Barratt</LastName><ForeName>Dean</ForeName><Initials>D</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Schneider</LastName><ForeName>Crispin</ForeName><Initials>C</Initials><AffiliationInfo><Affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Gurusamy</LastName><ForeName>Kurinchi</ForeName><Initials>K</Initials><AffiliationInfo><Affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Davidson</LastName><ForeName>Brian</ForeName><Initials>B</Initials><AffiliationInfo><Affiliation>Royal Free Campus, 9th Floor, Royal Free Hospital, UCL Medical School, Rowland Hill Street, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Ourselin</LastName><ForeName>Sébastien</ForeName><Initials>S</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Hawkes</LastName><ForeName>David</ForeName><Initials>D</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Clarkson</LastName><ForeName>Matthew J</ForeName><Initials>MJ</Initials><AffiliationInfo><Affiliation>Centre For Medical Image Computing, Engineering Front Building, University College London, Malet Place, London, UK. m.clarkson@ucl.ac.uk.</Affiliation></AffiliationInfo></Author></AuthorList><Language>eng</Language><GrantList CompleteYN="Y"><Grant><Agency>Wellcome Trust</Agency><Country>United Kingdom</Country></Grant></GrantList><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2015</Year><Month>06</Month><Day>20</Day></ArticleDate></Article><MedlineJournalInfo><Country>Germany</Country><MedlineTA>Int J Comput Assist Radiol Surg</MedlineTA><NlmUniqueID>101499225</NlmUniqueID><ISSNLinking>1861-6410</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><CommentsCorrectionsList><CommentsCorrections RefType="Cites"><RefSource>IEEE Trans Med Imaging. 2007 Aug;26(8):1079-90</RefSource><PMID Version="1">17695128</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Med Image Anal. 2008 Oct;12(5):577-85</RefSource><PMID Version="1">18650121</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Med Image Anal. 2004 Mar;8(1):81-91</RefSource><PMID Version="1">14644148</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Comput Aided Surg. 2003;8(5):228-40</RefSource><PMID Version="1">15529952</PMID></CommentsCorrections><CommentsCorrections RefType="Cites"><RefSource>Int J Comput Assist Radiol Surg. 2015 Mar;10(3):301-16</RefSource><PMID Version="1">25408304</PMID></CommentsCorrections><CommentsCorrections 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MajorTopicYN="N">Ultrasound</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="received"><Year>2015</Year><Month>3</Month><Day>24</Day></PubMedPubDate><PubMedPubDate PubStatus="accepted"><Year>2015</Year><Month>5</Month><Day>30</Day></PubMedPubDate><PubMedPubDate PubStatus="aheadofprint"><Year>2015</Year><Month>6</Month><Day>20</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2015</Year><Month>6</Month><Day>21</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2015</Year><Month>6</Month><Day>21</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>6</Month><Day>21</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">26092658</ArticleId><ArticleId IdType="doi">10.1007/s11548-015-1236-8</ArticleId><ArticleId 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