title: First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping.
abstract: 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.
authors.forename: Bernhard
authors.initials: B
authors.lastname: Fuerst
authors.forename: Julian
authors.initials: J
authors.lastname: Sprung
authors.forename: Francisco
authors.initials: F
authors.lastname: Pinto
authors.forename: Benjamin
authors.initials: B
authors.lastname: Frisch
authors.forename: Thomas
authors.initials: T
authors.lastname: Wendler
authors.forename: Hervé
authors.initials: H
authors.lastname: Simon
authors.forename: Laurent
authors.initials: L
authors.lastname: Mengus
authors.forename: Nynke S
authors.initials: NS
authors.lastname: van den Berg
authors.forename: Henk G
authors.initials: HG
authors.lastname: van der Poel
authors.forename: Fijs W B
authors.initials: FW
authors.lastname: van Leeuwen
authors.forename: Nassir
authors.initials: N
authors.lastname: Navab
mesh_terms: D004867:Equipment Design; D006801:Humans; D008198:Lymph Nodes / Q000000981:diagnostic imaging* / Q000601:surgery; D019060:Minimally Invasive Surgical Procedures; D019047:Phantoms, Imaging; D065287:Robotic Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D021701:Sentinel Lymph Node Biopsy / Q000295:instrumentation / Q000379:methods*; D015899:Tomography, Emission-Computed, Single-Photon / Q000295:instrumentation / Q000379:methods*