TY - JOUR
T1 - First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping
AU - Fuerst, Bernhard
AU - Sprung, Julian
AU - Pinto, Francisco
AU - Frisch, Benjamin
AU - Wendler, Thomas
AU - Simon, Herve
AU - Mengus, Laurent
AU - Van Den Berg, Nynke S.
AU - Van Der Poel, Henk G.
AU - Van Leeuwen, Fijs W.B.
AU - Navab, Nassir
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2016/3
Y1 - 2016/3
N2 - In this paper we present the usage of a drop-in gamma probe for intra-operative Single-Photon Emission Computed Tomography (SPECT) imaging in the scope of minimally invasive robot-assisted interventions. The probe is designed to be inserted and reside inside the abdominal cavity during the intervention. It is grasped during the procedure using a robotic laparoscopic gripper enabling full six degrees of freedom handling by the surgeon. We demonstrate the first deployment of the tracked probe for intra-operative in-patient robotic SPECT enabling augmented-reality image guidance. The hybrid mechanical-and image-based in-patient probe tracking is shown to have an accuracy of 0.2 mm. The overall system performance is evaluated and tested with a phantom for gynecological sentinel lymph node interventions and compared to ground-truth data yielding a mean reconstruction accuracy of 0.67 mm.
AB - In this paper we present the usage of a drop-in gamma probe for intra-operative Single-Photon Emission Computed Tomography (SPECT) imaging in the scope of minimally invasive robot-assisted interventions. The probe is designed to be inserted and reside inside the abdominal cavity during the intervention. It is grasped during the procedure using a robotic laparoscopic gripper enabling full six degrees of freedom handling by the surgeon. We demonstrate the first deployment of the tracked probe for intra-operative in-patient robotic SPECT enabling augmented-reality image guidance. The hybrid mechanical-and image-based in-patient probe tracking is shown to have an accuracy of 0.2 mm. The overall system performance is evaluated and tested with a phantom for gynecological sentinel lymph node interventions and compared to ground-truth data yielding a mean reconstruction accuracy of 0.67 mm.
KW - Endoscopy/laparoscopy
KW - SPECT
KW - image-guided treatment
KW - surgical guidance/navigation
UR - http://www.scopus.com/inward/record.url?scp=84963729818&partnerID=8YFLogxK
U2 - 10.1109/TMI.2015.2498125
DO - 10.1109/TMI.2015.2498125
M3 - Article
C2 - 26561283
AN - SCOPUS:84963729818
SN - 0278-0062
VL - 35
SP - 830
EP - 838
JO - IEEE Transactions on Medical Imaging
JF - IEEE Transactions on Medical Imaging
IS - 3
M1 - 7321051
ER -