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Towards Scarless Surgery: An Endoscopic Ultrasound Navigation System for Transgastric Access Procedures

Institution:
1Laboratory of Mathematics in Imaging, Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA.
2Center for Integration of Medicine and Innovative Technology, Boston, MA, USA.
3Surgical Planning Laboratory, Department of Radiology, Brigham and Women's Hospital, Harvard Medical School, Boston, MA, USA.
4CIMIT Image Guidance Laboratory, Boston, MA, USA.
Publisher:
Comput Aided Surg
Publication Date:
Nov-2007
Volume Number:
12
Issue Number:
6
Pages:
311-324
Citation:
Comput Aided Surg. 2007 Nov;12(6):311-24.
PubMed ID:
18066947
Keywords:
Ultrasound, navigation, natural orifice, transgastric approach
Appears in Collections:
LMI, CIGL, NAC, SLICER
Sponsors:
P41 RR013218/RR/NCRR NIH HHS/United States
CIMIT
Generated Citation:
San Jose Estepar R., Stylopoulos N., Ellis R., Samset E., Westin C-F., Thompson C., Vosburgh K.G. Towards Scarless Surgery: An Endoscopic Ultrasound Navigation System for Transgastric Access Procedures. Comput Aided Surg. 2007 Nov;12(6):311-24. PMID: 18066947.
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Scarless surgery is an innovative and promising technique that may herald a new era in surgical procedures. We have created a navigation system, named IRGUS, for endoscopic and transgastric access interventions and have validated it in in vivo pilot studies. Our hypothesis is that endoscopic ultrasound procedures will be performed more easily and efficiently if the operator is provided with approximately registered 3D and 2D processed CT images in real time that correspond to the probe position and ultrasound image. Materials and Methods: The system provides augmented visual feedback and additional contextual information to assist the operator. It establishes correspondence between the real-time endoscopic ultrasound image and a preoperative CT volume registered using electromagnetic tracking of the endoscopic ultrasound probe position. Based on this positional information, the CT volume is reformatted in approximately the same coordinate frame as the ultrasound image and displayed to the operator. Results: The system reduces the mental burden of probe navigation and enhances the operator's ability to interpret the ultrasound image. Using an initial rigid body registration, we measured the mis-registration error between the ultrasound image and the reformatted CT plane to be less than 5 mm, which is sufficient to enable the performance of novice users of endoscopic systems to approach that of expert users. Conclusions: Our analysis shows that real-time display of data using rigid registration is sufficiently accurate to assist surgeons in performing endoscopic abdominal procedures. By using preoperative data to provide context and support for image interpretation and real-time imaging for targeting, it appears probable that both preoperative and intraoperative data may be used to improve operator performance.

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