A system for visualization and automatic placement of the endoclamp balloon catheter
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The European research network Augmented Reality in Surgery (ARIS*ER) developed a system that supports minimally invasive cardiac surgery based on augmented reality (AR) technology. The system supports the surgical team during aortic endoclamping where a balloon catheter has to be positioned and kept in place within the aorta. The presented system addresses the two biggest difficulties of the task: lack of visualization and difficulty in maneuvering the catheter. The system was developed using a user centered design methodology with medical doctors, engineers and human factor specialists equally involved in all the development steps. The system was implemented using the AR framework Studierstube developed at TU Graz and can be used to visualize in real-time the position of the balloon catheter inside the aorta. The spatial position of the catheter is measured by a magnetic tracking system and superimposed on a 3D model of the patient's thorax. The alignment is made with a rigid registration algorithm. Together with a user defined target, the spatial position data drives an actuator which adjusts the position of the catheter in the initial placement and corrects migrations during the surgery. Two user studies with a silicon phantom show promising results regarding usefulness of the system: the users perform the placement tasks faster and more accurately than with the current restricted visual support. Animal studies also provided a first indication that the system brings additional value in the real clinical setting. This work represents a major step towards safer and simpler minimally invasive cardiac surgery.Keywords:
Balloon catheter
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Minimally invasive surgery offers advantages that make it the best choice for many diseases. The Virtual Reality technology gives a great support to this surgical procedure methods through medical image processing and visualization, 3D organ’s reconstruction and intraoperative surgical guidance. In this paper is presented an advanced visualization and navigation platform that permits the surgeon to have the possibility to visualize both the traditional patient information (the CT image dataset) and a 3D model of the patient’s anatomy obtained through the processing of these images. The platform permits two different visualization modalities that are available in real time and dynamically. According to the surgeon needs, it is possible to obtain the automatic reslicing of the orthogonal planes in order to have an accurate visualization exactly next to the actual position of the surgical instrument tip. In addition, it is possible to activate the clipping modality that allows cutting the 3D model in correspondence of a chosen visualization plane. The platform can be used as support for the diagnosis, for the surgical preoperative planning and also for an image-guided surgery.
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While endoscopic skull base surgery (ESBS) has emerged as an alternative surgical option, the limited field of view of the endoscope may lead to the surgeon's fatigue and discomfort.The developed navigation system includes extended augmented reality (AR), which can provide an extended viewport to a conventional endoscopic view by overlaying 3D anatomical models generated from preoperative medical images onto endoscope images. To enhance the accuracy of the developed system, we adopted state-of-the-art endoscopic calibration and tracking techniques based on an optical tracking system.The mean spatial errors of AR was ~1 mm, which falls in the acceptable range of accuracy for ESBS. For the simulated surgical tasks with the developed system, the number and duration of error events were decreased.The results show that the human subject can perform the task more precisely and safely with the developed AR-based navigation system than with the conventional endoscopic system.
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Study Design. Prospective observational study. Objective. This article aims to develop a spatial augmented reality-based surgical navigation system to assist in the placement of pedicle screws in minimally invasive spine surgery and to verify the accuracy of this method. Summary of Background Data. Due to their high accuracy and good visualization ability, augmented reality surgical navigation systems have been used in minimally invasive surgeries. However, augmented reality does not allow information to be shared and restricts doctors. Methods. A surgical navigation system that implements augmented reality based on a projector can be used to realize the external visualization of virtual organs and surgical information through an improved multiple information fusion method. Using fiducial markers and imaging technology, the patient's spatial position is tracked and registered in real time. All the information is accurately fused with the patient's back skin, and the surgeon can see surgical information such as the preoperative plan and bones. Phantom experiments were used to verify the accuracy and effectiveness of the system. Results. In the phantom experiments, the accuracy of the pedicle screw insertion point on the dummy's skin was 0.441 ± 0.214 mm, the average location error into the dummy's body was 1.645 ± 0.355 mm, and the average axial and sagittal angulation errors were <0.9°. Conclusion. This article introduces and verifies the design of a new surgical navigation system based on spatial augmented reality for lumbar pedicle screw implantation. The system passed a series of phantom accuracy experiments. Compared with the traditional augmented reality navigation system, this system avoids the use of glasses and truly realizes the effect of naked-eye 3D, which is more convenient for doctors to use for communication during an operation. Level of Evidence: N/A
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Catheter-driven cardiac interventions have emerged in response to the need of reducing invasiveness associated with the traditional cut-and-sew techniques. Catheter manipulation is traditionally performed under real-time fluoroscopy imaging, resulting in an overall trade-off of procedure invasiveness for radiation exposure of both the patient and clinical staff. Our approach to reducing and potentially eliminating the use of flouroscopy in the operating room entails the use of multi-modality imaging and magnetic tracking technologies, wrapped together into an augmented reality environment for enhanced intra-procedure visualization and guidance. Here we performed an in vitro study in which a catheter was guided to specific targets located on the endocardial atrial surface of a beating heart phantom. "Therapy delivery" was modeled in the context of a blinded procedure, mimicking a beating heart, intracardiac intervention. The users navigated the tip of a magnetically tracked Freezor 5 CRYOCATH catheter to the specified targets. Procedure accuracy was determined as the distance between the tracked catheter tip and the tracked surgical target at the time of contact, and it was assessed under three different guidance modalities: endoscopic, augmented reality, and ultrasound image guidance. The overall RMS targeting accuracy achieved under augmented reality guidance averaged to 1.1 mm. This guidance modality shows significant improvements in both procedure accuracy and duration over ultrasound image guidance alone, while maintianing an overall targeting accuracy comparable to that achieved under endoscopic guidance.
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Transfemoral Endovascular Aneurysm Management, the less invasive treatment of Aortic Abdominal Aneurysms (AAA), is a highly specialized procedure, using advanced devices and requiring a high degree of clinical expertise. There is a great need for a navigation guidance system able to make this procedure safer and more precise. In this context of computer-assisted minimally invasive interventional procedures, we propose a new framework based on the cooperation between the real environment where the intervention takes place and a patient-specific virtual environment, which contains a virtual operating room including a C-arm model as well as the 3D preoperative patient data. This approach aims to deal with the problem of lack of knowledge about soft tissue behavior by better exploiting available information before and during the intervention through a cooperative approach. In order to assist the TEAM procedure in standard interventional conditions, we applied this framework to design a 3D navigation guidance system, which has been successfully used during three TEAM interventions in the operating room. Intra-operatively, anatomical feature-based 2D/3D registration between a single 2D fluoroscopic view, reproduced from the pose planned in the virtual environment, and the preoperative CT volume, is performed by means of a chamfer distance map. The 3D localization of the endovascular devices (sheath, guide wire, prosthesis) tracked either interactively or automatically on 2D sequences, is constrained to either the 3D vascular tree or a 3D device model. Moreover, we propose a first solution to take into account the tissue deformations during this particular intervention and to update the virtual environment with the intraoperative data.
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