Thompson, SA;
Penney, G;
Dasgupta, P;
Hawkes, D;
(2009)
Accuracy Analysis of an Image Guided Robotic Urology Surgery System.
Presented at: MICCAI 2009 Workshop on Geometric Accuracy in Image Guided Intervention, Imperial College, London UK.
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Abstract
We present an evaluation of the accuracy of a system for image guided radical prostatectomy using the daVinci telemanipulator. The system is split into components and ten sources of error identified. The magnitude of three of these error sources; segmentation of bone from MRI, registration to patient using intraoperative ultrasound, and endoscope tracking error is determined experimentally. The remaining errors are estimated from the literature. We demonstrate that the distribution of ultrasound slices used for registration can reduce the system error by up to 0.7mm. Our results show that our system can localise the prostate to within 3.7mm RMS, and that the largest component of the this error is the segmentation of the pelvic bone from MRI.
| Type: | Conference item (Presentation) |
|---|---|
| Title: | Accuracy Analysis of an Image Guided Robotic Urology Surgery System |
| Event: | MICCAI 2009 Workshop on Geometric Accuracy in Image Guided Intervention |
| Location: | Imperial College, London UK |
| Dates: | 20 September 2009 |
| Open access status: | An open access version is available from UCL Discovery |
| Publisher version: | http://ubimon.doc.ic.ac.uk/MICCAI09/a1858.html |
| Language: | English |
| UCL classification: | UCL UCL > Provost and Vice Provost Offices > UCL BEAMS UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng |
| URI: | https://discovery.ucl.ac.uk/id/eprint/1475202 |
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