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Image Guidance in Telemanipulator Assisted Urology Surgery

Thompson, SA; (2011) Image Guidance in Telemanipulator Assisted Urology Surgery. Doctoral thesis , University of London. Green open access

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Abstract

This thesis outlines the development of an image guided surgery system, intended for use in \davinci assisted radical prostatectomy but more generally applicable to laparoscopic urology surgery. We defined the key performance parameter of the system as the accuracy of overlaying modelled anatomy onto the surgical scene. This thesis is primarily concerned with determining the system accuracy based on an analysis of the system's components. A common error measure was defined for all system components. This is an on screen error (measured in pixels) based on the error in projecting a single point lying near the apex of the prostate with the endoscope in a typical surgical pose. In this case the projected point was approximately 200 mm from the endoscope lens. An intraoperative coordinate system is first defined as the coordinate system of an optical tracking system used to track the endoscope. The MRI image of the patient is transformed into the intraoperative coordinate system. Prior to surgery the endoscope is calibrated and during surgery the endoscope is tracked, defining a transform from the coordinates of the optical tracking system to the endoscope screen. This transform is used to project the MRI image onto the endoscope video display. The early part of the thesis describes a novel algorithm for registering MRI to ultrasound images of the bone which was used to put the MRI image into the intraoperative coordinate system. Using this algorithm avoids the need for fiducial markers. The table below shows the errors (as on screen pixel RMS) due to using this algorithm. An approximate value as RMS distance error at the prostate apex point is also included.

Type: Thesis (Doctoral)
Title: Image Guidance in Telemanipulator Assisted Urology Surgery
Event: University of London
Open access status: An open access version is available from UCL Discovery
Language: English
Keywords: Image guided surgery
URI: http://discovery.ucl.ac.uk/id/eprint/1475351
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