title: An effective visualisation and registration system for image-guided robotic partial nephrectomy.
abstract: Robotic partial nephrectomy is presently the fastest-growing robotic surgical procedure, and in comparison to traditional techniques it offers reduced tissue trauma and likelihood of post-operative infection, while hastening recovery time and improving cosmesis. It is also an ideal candidate for image guidance technology since soft tissue deformation, while still present, is localised and less problematic compared to other surgical procedures. This work describes the implementation and ongoing development of an effective image guidance system that aims to address some of the remaining challenges in this area. Specific innovations include the introduction of an intuitive, partially automated registration interface, and the use of a hardware platform that makes sophisticated augmented reality overlays practical in real time. Results and examples of image augmentation are presented from both retrospective and live cases. Quantitative analysis of registration error verifies that the proposed registration technique is appropriate for the chosen image guidance targets.
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, Bessemer Building, South Kensington Campus, Exhibition Road, London, SW7 2AZ, UK. p.pratt@imperial.ac.uk.
authors.forename: Philip
authors.initials: P
authors.lastname: Pratt
authors.affiliation: Department of Surgery and Cancer, Imperial College London, London, UK.
authors.forename: Erik
authors.initials: E
authors.lastname: Mayer
authors.affiliation: Department of Surgery and Cancer, Imperial College London, London, UK.
authors.forename: Justin
authors.initials: J
authors.lastname: Vale
authors.affiliation: Department of Surgery and Cancer, Imperial College London, London, UK.
authors.forename: Daniel
authors.initials: D
authors.lastname: Cohen
authors.affiliation: Department of Surgery and Cancer, Imperial College London, London, UK.
authors.forename: Eddie
authors.initials: E
authors.lastname: Edwards
authors.affiliation: Department of Surgery and Cancer, Imperial College London, London, UK.
authors.forename: Ara
authors.initials: A
authors.lastname: Darzi
authors.affiliation: Hamlyn Centre for Robotic Surgery, Imperial College London, Bessemer Building, South Kensington Campus, Exhibition Road, London, SW7 2AZ, UK.
authors.forename: Guang-Zhong
authors.initials: GZ
authors.lastname: Yang
keywords: Image guidance; Partial nephrectomy; Real-time video processing; Robotic surgery; Spatial registration; Tumour resection