Post on 24-Dec-2015
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
Image-Guided SurgeryApplications
Julien JomierThe University of North Carolina
at Chapel Hill
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
Outline
● TIPS ProcedureCASILab
● NeuroSurgery Application BrainLab
● Liver Transplant Planning● RF Liver Tumor Ablation
CADDLab
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
TIPS Procedure
• Transjugular Intrahepatic Portosystemic Shunt
• CASILab @ UNC (Dr. Bullitt)
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
TIPS procedure
• Biplane Fluoroscopic Images• 3D/2D Model-to-Image Registration• Real-time tracking
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
TIPS : Registration
FluoroImages
3D Vascular
Model
Model-to-Image
Registration
Balloon Tracking
Needle Tracking
3DDisplay
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
NeuroSurgery
• BrainLab• VectorVision/VVLink• VTK / CMake• Brain/Spine surgery• Intra-Operative Ultrasound• Optical Tracker (NDI)
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
NeuroSurgery
• VVCranial• MR/Patient registration:
- Surface matching of the skull
• Surgical Navigation• Tool tracking• Head tracking
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
MR/US Fusion
• Manual alignment of tumor margins
• Add automatic non-rigid registration
• Model-to-Image registration
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
Liver Transplant Planning
• Define optimal cutting path preoperatively.
• Open-Surgery• Bring the path in the OR• Deformable Registration• Ultrasound Annotation
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
Liver Transplant Planning
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
Liver Transplant Planning
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
RF Liver Tumor Ablation
• 40-50% of all lesions not seen using ultrasound.
• Options:- Open Surgery- CT/MR guided RFA- wait until lesion enlarges
• Ideal: Percutaneous treatment using US
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
RF Liver Tumor Ablation
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
RF Liver Tumor Ablation
• US Probe tracking via Ascension Flock of Birds
• Needle segmentation from US
• 3 Displays:- 3D- Needle pointof view- Slice based
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
RFA Results
• US/MR model-to-image affine registration
• About 2 seconds• Accuracy:
- < 2mm translation- < 0.06rad rotation
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
3D US Reconstruction
• Reconstruct 3D Ultrasound volume from 2D tracked images
• Breathing/Heart beating• Calibration needed
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
3D US Calibration
Ttracker
z
y
xO
Tracker
US Probe
US Image
TTrackerToProbe
y
-z
-x
Tmodel
TProbeToImage
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
US Reconstruction Results
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
Acknowledgments
• Dr. Sue Weeks• Dr. Friedman• Dr. Elizabeth Bullitt• Stephen Aylward• Amael Delaunoy
IGT Meeting – CADDLab – November, 2005IGT Meeting – CADDLab – November, 2005
Tools
• Open Source Toolkits
• ITK/VTK• IGSTK• CMake• SOViewers• FLTK/Qt