Intra-operative "pick-up" ultrasound for robot assisted surgery with vessel extraction and registration: a feasibility study

Authors:
Caitlin Schneider;Julian Guerrero;Christopher Nguan;Robert Rohling;Septimiu Salcudean
Affiliations:
Electrical and Computer Engineering, University of British Columbia;Electrical and Computer Engineering, University of British Columbia;Department of Urology, Vancouver General Hospital;Electrical and Computer Engineering, University of British Columbia;Electrical and Computer Engineering, University of British Columbia
Venue:
IPCAI'11 Proceedings of the Second international conference on Information processing in computer-assisted interventions
Year:
2011

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Abstract

We propose the use of a "pick-up" ultrasound transducer for robot-assisted minimally invasive surgeries. Unlike prior approaches, the ultrasound transducer is inserted before the procedure and remains in the abdominal cavity throughout. We present a new design for such an intra-abdominal ultrasound transducer with a handle that can be grasped in a repeatable manner using a da Vinci Pro-Grasp tool. The main application is mapping the vasculature, which is segmented from Doppler and B-mode images using a Kalman-filtering approach. Our goal is employ the vasculature to register pre-operative CT to intraoperative camera images. To demonstrate the feasibility of the approach, we use an ultrasound flow phantom to register a CT surface model to extracted ultrasound vessel center points using an iterative closest point method. The transducer was tracked with electromagnetic sensors and a target registration error of 3.2 mm was calculated. The initial application will be nephrectomy where vessel localization is paramount.