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Computer-assisted access to the kidney

descriptionPublicationkeyboard_double_arrow_right Article , Preprint , Other literature type 01 Dec 2005Embargo end date: 01 Jan 2007 France Publisher:WileyJournal:The International Journal of Medical Robotics and Computer Assisted Surgery, volume 1, pages 58-66 (issn: 1478-5951, eissn: 1478-596X,

Authors: Mozer, P.; Leroy, A.; Payan, Yohan; Troccaz, Jocelyne; Chartier-Kastler, E.; Richard, F.;

doi: 10.1002/rcs.58 , 10.48550/arxiv.0706.3333

pmid: 17518406

arXiv: http://arxiv.org/abs/0706.3333

Computer-assisted access to the kidney

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Abstract

OBJECTIVES: The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with space-localized ultrasound (US) data, preoperative planning can be transferred to the intra-operative conditions and an intuitive man-machine interface allows the user to perform a puncture. MATERIAL AND METHODS: Both CT and US images of informed normal volunteer were obtained to perform calculation on the accuracy of registration and punctures were carried out on a kidney phantom to measure the precision of the whole of the system. RESULTS: We carried out millimetric registrations on real data and guidance experiments on a kidney phantom showed encouraging results of 4.7 mm between planned and reached targets. We noticed that the most significant error was related to the needle deflection during the puncture. CONCLUSION: Preliminary results are encouraging. Further work will be undertaken to improve efficiency and accuracy, and to take breathing into account.

Country

France

Related Organizations

Sorbonne Paris Cité
France
French National Centre for Scientific Research
France
Sorbonne University
France
Pitié-Salpêtrière Hospital
France
Laboratoire d'informatique de Paris 6
France

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Keywords

Computer-Assisted Surgery, [INFO.INFO-IM] Computer Science [cs]/Medical Imaging, 610, FOS: Physical sciences, Punctures, Kidney, Patient Care Planning, Imaging, User-Computer Interface, Computer-Assisted, Imaging, Three-Dimensional, [SPI.MECA.BIOM] Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], MESH: Patient Care Planning, [INFO.INFO-IM]Computer Science [cs]/Medical Imaging, Humans, [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], MESH: User-Computer Interface, Ultrasonography, MESH: Punctures, [SDV.IB] Life Sciences [q-bio]/Bioengineering, MESH: Humans, Phantoms, Imaging, MESH: Tomography, MESH: Phantoms, [PHYS.MECA.BIOM] Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph], [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph], Reproducibility of Results, MESH: Kidney, Physics - Medical Physics, X-Ray Computed, 004, MESH: Imaging, MESH: Reproducibility of Results, Surgery, Computer-Assisted, Three-Dimensional, MESH: Surgery, [SDV.IB]Life Sciences [q-bio]/Bioengineering, Medical Physics (physics.med-ph), Tomography, X-Ray Computed, 2.5D echography, MESH: Ultrasonography

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	impulse This indicator reflects the initial momentum of an article directly after its publication, based on the underlying citation network.	Average