title: A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: toward image registration in minimally invasive surgery.
abstract: BACKGROUND
  Registered medical images can assist with surgical navigation and enable image-guided therapy delivery. In soft tissues, surface-based registration is often used and can be facilitated by laser surface scanning. Tracked conoscopic holography (which provides distance measurements) has been recently proposed as a minimally invasive way to obtain surface scans. Moving this technique from concept to clinical use requires a rigorous accuracy evaluation, which is the purpose of our paper.
  
  
  METHODS
  We adapt recent non-homogeneous and anisotropic point-based registration results to provide a theoretical framework for predicting the accuracy of tracked distance measurement systems. Experiments are conducted a complex objects of defined geometry, an anthropomorphic kidney phantom and a human cadaver kidney.
  
  
  RESULTS
  Experiments agree with model predictions, producing point RMS errors consistently < 1 mm, surface-based registration with mean closest point error < 1 mm in the phantom and a RMS target registration error of 0.8 mm in the human cadaver kidney.
  
  
  CONCLUSIONS
  Tracked conoscopic holography is clinically viable; it enables minimally invasive surface scan accuracy comparable to current clinical methods that require open surgery.
authors: Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA. jessica.burgner@vanderbilt.edu
authors: J
authors: J
authors: Burgner
authors: A L
authors: AL
authors: Simpson
authors: J M
authors: JM
authors: Fitzpatrick
authors: R A
authors: RA
authors: Lathrop
authors: S D
authors: SD
authors: Herrell
authors: M I
authors: MI
authors: Miga
authors: R J
authors: RJ
authors: Webster
mesh_terms: D017076:Computer-Aided Design; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006696:Holography / Q000295:instrumentation* / Q000379:methods; D021621:Imaging, Three-Dimensional / Q000295:instrumentation* / Q000379:methods; D010535:Laparoscopy / Q000295:instrumentation* / Q000379:methods; D007834:Lasers; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation* / Q000379:methods; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D012680:Sensitivity and Specificity; D013382:Subtraction Technique / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods