Improved Surgical Navigation Using Video-CT Registration

使用视频 CT 配准改进手术导航

• 批准号: 10606579
• 负责人: GREGORY Donald HAGER
• 金额: $ 60.76万
• 依托单位: JOHNS HOPKINS UNIVERSITY
• 依托单位国家: 美国
• 财政年份: 2021
• 资助国家: 美国
• 起止时间: 2021-07-05 至 2025-03-31
• 项目状态: 未结题
• 来源: https://reporter.nih.gov/project-details/10606579
• 关键词: 3-Dimensional; Address; Anatomic Models; Anatomy; Brain; Cadaver; Clinical; Complex; Computer Vision Systems; Computing Methodologies; Coupled; Data; Decision Making; Detection; Devices; Documentation; Endoscopes; Ethmoid bone structure; Eye; Geometry; Goals; Image; Image-Guided Surgery; Investigation; Learning; Methods; Modeling; Monitor; Operating Rooms; Operative Surgical Procedures; Optics; Patients; Performance; Postoperative Period; Procedures; Psyche structure; Radiation exposure; Safety; Sinus; Slice; Speed; Structure; Surface; Surgeon; System; Technology; Touch sensation; United States National Institutes of Health; Update; Vision; Visualization; Work; X-Ray Computed Tomography; cohort; cost; effectiveness evaluation; improved; interest; millimeter; novel; operation; radiological imaging; reconstruction; tool; usability

Abstract In many surgical procedures, image guided surgery (IGS), also known as surgical navigation, facilitates precise surgical manipulations near critical structures such as the brain and eye. IGS suffers from critical limitations such as loss of precision and correspondence with preoperative imaging once surgery begins and the anatomy is altered. These limitations may be addressed through intra-operative imaging, which effectively “resets” the model and thus enables both improved precision of IGS as well as improved surgical decision- making. However, intraoperative radiologic imaging has many limitations, including disruption of the workflow, cost, and additional radiation exposure. This project aims to develop solutions to resolve limitations of IGS without the need for intra-operative radiologic imaging. Our solutions rely upon data from a device that is present in every procedure using IGS, namely, the endoscope. Our goal in this project is use endoscopic video images to reconstruct surgical anatomy as it changes. This enables sustained precision in registration with pre- operative imaging throughout the procedure by updating the anatomical model as surgery progresses. We will achieve this by 1) using advances in computer vision to develop improved methods for continuous direct registration between the endoscope and the CT; and 2) developing methods that continuously compute the geometry of observed surfaces and update the preoperative CT with changes in that geometry. The technology developed in this proposal thus enables the following: 1) precise surgical navigation using the endoscope throughout the procedure; 2) surgical decision-making without the need for additional intra-operative imaging; and 3) new tools to reconstruct surgical anatomy and quantitatively evaluate the extent of surgery.

抽象的 在许多外科手术过程中，图像指导手术（IG），也称为手术导航，促进 临界结构（例如大脑和眼睛）附近的精确手术操纵。 IG遭受关键 一旦开始手术，诸如精确度丧失和术前成像的对应等局限性，并且 解剖学改变了。这些局限性可以通过术中成像来解决，从而有效 “重置”模型，因此可以提高IG的精度以及改进的手术决策 - 制作。但是，术中放射学成像有许多局限性，包括破坏工作流程， 成本和额外的辐射暴露。该项目旨在开发解决IG限制的解决方案 无需术中放射学成像。我们的解决方案依赖于来自设备的数据 使用IG在每个过程中都存在，即内窥镜。我们在这个项目中的目标是使用内窥镜视频 图像会随着外科解剖结构而变化。这使得持续的注册能够持续精确。 随着手术的进行，通过更新解剖模型，整个过程中进行手术成像。我们将 通过1）使用计算机愿景的进步来开发改进的方法来连续直接 内窥镜和CT之间的注册； 2）开发不断计算的方法 观察到的表面的几何形状，并随着该几何形状的变化更新术前CT。技术 因此，在本提案中开发的可以实现以下内容：1）使用内窥镜进行精确的手术导航 在整个过程中； 2）手术决策无需额外的术中成像； 3）重建手术解剖结构并定量评估手术程度的新工具。

项目成果

Investigating keypoint descriptors for camera relocalization in endoscopy surgery.

研究内窥镜手术中相机重新定位的关键点描述符。

• DOI: 10.1007/s11548-023-02918-x
• 发表时间: 2023
• 期刊: International journal of computer assisted radiology and surgery
• 影响因子: 3
• 作者: Hernández,Isabela;Soberanis-Mukul,Roger;Mangulabnan,JanEmily;Sahu,Manish;Winter,Jonas;Vedula,Swaroop;Ishii,Masaru;Hager,Gregory;Taylor,RussellH;Unberath,Mathias
• 通讯作者: Unberath,Mathias