Ultrasound-Based Image Guidance for Robot-Assisted Laparoscopic Radical Prostatectomy: Initial in-vivo Results

Proc. Information Processing in Computer-Assisted Interventions (IPCAI), 2013

Omid Mohareri, Caitlin Schneider, Troy K Adebar, Mike C Yip, Peter Black, Christopher Y Nguan, Dale Bergman, Jonathan Seroger, Simon DiMaio, Septimiu E Salcudean

Publisher Link: http://link.springer.com/chapter/10.1007/978-3-642-38568-1_5

Abstract: This paper describes the initial clinical evaluation of a real-time ultrasound-based guidance system for robot-assisted laparoscopic radical prostatectomy (RALRP). The surgical procedure was performed on a live anaesthetized canine with a da Vinci SI robot. Intraoperative imaging was performed using a robotic transrectal ultrasound (TRUS) manipulator and a bi-plane TRUS transducer. Two registration methods were implemented and tested: (i)using specialized fiducials placed at the air-tissue boundary, 3D TRUS data were registered to the da Vinci stereo endoscope with an average TRE of 2.37 ± 1.06 mm, (ii)using localizations of the da Vinci manipulator tips in 3D TRUS images, 3D TRUS data were registered to the kinematic frame of the da Vinci manipulators with average TRE of 1.88 ± 0.88 mm using manual tool tip localization, and average TRE of 2.68 ± 0.98 mm using an automatic tool tip …

Mohareri et al. (2013) Ultrasound-Based Image Guidance for Robot-Assisted Laparoscopic Radical Prostatectomy: Initial in-vivo Results, Proc. Information Processing in Computer-Assisted Interventions (IPCAI), pp. 40-50.