title: Toward Intraoperative Image-Guided Transoral Robotic Surgery.
abstract: This paper presents the development and evaluation of video augmentation on the stereoscopic da Vinci S system with intraoperative image guidance for base of tongue tumor resection in transoral robotic surgery (TORS). Proposed workflow for image-guided TORS begins by identifying and segmenting critical oropharyngeal structures (e.g., the tumor and adjacent arteries and nerves) from preoperative computed tomography (CT) and/or magnetic resonance (MR) imaging. These preoperative planned data can be deformably registered to the intraoperative endoscopic view using mobile C-arm cone-beam computed tomography (CBCT) [1, 2]. Augmentation of TORS endoscopic video defining surgical targets and critical structures has the potential to improve navigation, spatial orientation, and confidence in tumor resection. Experiments in animal specimens achieved statistically significant improvement in target localization error when comparing the proposed image guidance system to simulated current practice.
authors.affiliation: Department of Computer Science, Johns Hopkins University.
authors.forename: Wen P
authors.initials: WP
authors.lastname: Liu
authors.affiliation: Department of Computer Science, Johns Hopkins University.
authors.forename: Sureerat
authors.initials: S
authors.lastname: Reaugamornrat
authors.affiliation: Department of Computer Science, Johns Hopkins University.
authors.forename: Anton
authors.initials: A
authors.lastname: Deguet
authors.affiliation: Intuitive Surgical Inc., Sunnyvale, USA.
authors.forename: Jonathan M
authors.initials: JM
authors.lastname: Sorger
authors.affiliation: Department of Computer Science, Johns Hopkins University ; Department of Biomedical Engineering, Johns Hopkins University.
authors.forename: Jeffrey H
authors.initials: JH
authors.lastname: Siewerdsen
authors.affiliation: Department of Otolaryngology-Head and Neck Surgery, Johns Hopkins Hospital.
authors.forename: Jeremy
authors.initials: J
authors.lastname: Richmon
authors.affiliation: Department of Computer Science, Johns Hopkins University ; Department of Biomedical Engineering, Johns Hopkins University.
authors.forename: Russell H
authors.initials: RH
authors.lastname: Taylor
keywords: Cone Beam Computed Tomography; Deformable Registration; Intraoperative Image Guidance; Minimally Invasive Surgery; Stereoscopic Video Augmentation; Transoral Robotic Surgery