Image Guidance for Robotic Minimally Invasive Coronary Artery Bypass

Authors:
Michael Figl;Daniel Rueckert;David Hawkes;Roberto Casula;Mingxing Hu;Ose Pedro;Dong Ping Zhang;Graeme Penney;Fernando Bello;Philip Edwards
Affiliations:
Department of Computing, Imperial College London, UK;Department of Computing, Imperial College London, UK;Centre of Medical Image Computing, University College London, UK;Cardiothoracic Surgery, St. Mary's Hospital, London, UK;Centre of Medical Image Computing, University College London, UK;Department of Computing, Imperial College London, UK;Department of Computing, Imperial College London, UK;Division of Imaging Sciences, King's College London, UK;Department of Biosurgery and Surgical Technology, Imperial College London, UK;Department of Biosurgery and Surgical Technology, Imperial College London, UK
Venue:
MIAR '08 Proceedings of the 4th international workshop on Medical Imaging and Augmented Reality
Year:
2008

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Abstract

A novel system for image guidance in totally endoscopic coronary artery bypass (TECAB) is presented. Key requirement is the availability of 2D-3D registration techniques that can deal with non-rigid motion and deformation. Image guidance for TECAB is mainly required before the mechanical stabilization of the heart, thus the most dominant source of non-rigid deformation is the motion of the beating heart.To augment the images in the endoscope of the da Vinci robot, we have to find the transformation from the coordinate system of the preoperative imaging modality to the system of the endoscopic cameras.In a first step we build a 4D motion model of the beating heart. Intraoperatively we can use the ECG or video processing to determine the phase of the cardiac cycle. We can then take the heart surface from the motion model and register it to the stereo-endoscopic images of the da Vinci robot using 2D-3D registration methods. We are investigating robust feature tracking and intensity-based methods for this purpose.Images of the vessels available in the preoperative coordinate system can then be transformed to the camera system and projected into the calibrated endoscope view using two video mixers with chroma keying. It is hoped that the augmented view can improve the efficiency of TECAB surgery and reduce the conversion rate to more conventional procedures.