Automatic, global registration in laparoscopic liver surgery.

Autor: Koo B; Wellcome/EPSRC Centre for Interventional and Surgical Sciences and the Centre for Medical Image Computing, UCL, London, UK. b.koo@ucl.ac.uk., Robu MR; Wellcome/EPSRC Centre for Interventional and Surgical Sciences and the Centre for Medical Image Computing, UCL, London, UK., Allam M; Division of Surgery and Interventional Science, UCL, London, UK., Pfeiffer M; Translational Surgical Oncology, National Center for Tumor Diseases, Dresden, Germany., Thompson S; Wellcome/EPSRC Centre for Interventional and Surgical Sciences and the Centre for Medical Image Computing, UCL, London, UK., Gurusamy K; Division of Surgery and Interventional Science, UCL, London, UK., Davidson B; Division of Surgery and Interventional Science, UCL, London, UK., Speidel S; Translational Surgical Oncology, National Center for Tumor Diseases, Dresden, Germany., Hawkes D; Wellcome/EPSRC Centre for Interventional and Surgical Sciences and the Centre for Medical Image Computing, UCL, London, UK., Stoyanov D; Wellcome/EPSRC Centre for Interventional and Surgical Sciences and the Centre for Medical Image Computing, UCL, London, UK., Clarkson MJ; Wellcome/EPSRC Centre for Interventional and Surgical Sciences and the Centre for Medical Image Computing, UCL, London, UK.
Jazyk: angličtina
Zdroj: International journal of computer assisted radiology and surgery [Int J Comput Assist Radiol Surg] 2022 Jan; Vol. 17 (1), pp. 167-176. Date of Electronic Publication: 2021 Oct 26.
DOI: 10.1007/s11548-021-02518-7
Abstrakt: Purpose: The initial registration of a 3D pre-operative CT model to a 2D laparoscopic video image in augmented reality systems for liver surgery needs to be fast, intuitive to perform and with minimal interruptions to the surgical intervention. Several recent methods have focussed on using easily recognisable landmarks across modalities. However, these methods still need manual annotation or manual alignment. We propose a novel, fully automatic pipeline for 3D-2D global registration in laparoscopic liver interventions.
Methods: Firstly, we train a fully convolutional network for the semantic detection of liver contours in laparoscopic images. Secondly, we propose a novel contour-based global registration algorithm to estimate the camera pose without any manual input during surgery. The contours used are the anterior ridge and the silhouette of the liver.
Results: We show excellent generalisation of the semantic contour detection on test data from 8 clinical cases. In quantitative experiments, the proposed contour-based registration can successfully estimate a global alignment with as little as 30% of the liver surface, a visibility ratio which is characteristic of laparoscopic interventions. Moreover, the proposed pipeline showed very promising results in clinical data from 5 laparoscopic interventions.
Conclusions: Our proposed automatic global registration could make augmented reality systems more intuitive and usable for surgeons and easier to translate to operating rooms. Yet, as the liver is deformed significantly during surgery, it will be very beneficial to incorporate deformation into our method for more accurate registration.
(© 2021. The Author(s).)
Databáze: MEDLINE
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