Robert L. Galloway

Registration of head volume images using implantable fiducial markers

Describes an extrinsic-point-based, interactive image-guided neurosurgical system designed at Vanderbilt University, Nashville, TN, as part of a collaborative effort among the Departments of Neurological Surgery, Computer Science, and Biomedical Engineering. Multimodal image-to-image (II) and image-to-physical (IP) registration is accomplished using implantable markers. Physical space tracking is accomplished with optical triangulation. The authors investigate the theoretical accuracy of point-based registration using numerical simulations, the experimental accuracy of their system using data obtained with a phantom, and the clinical accuracy of their system using data acquired in a prospective clinical trial by 6 neurosurgeons at 4 medical centers from 158 patients undergoing craniotomies to respect cerebral lesions. The authors can determine the position of their markers with an error of approximately 0.4 mm in X-ray computed tomography (CT) and magnetic resonance (MR) images and 0.3 mm in physical space. The theoretical registration error using 4 such markers distributed around the head in a configuration that is clinically practical is approximately 0.5-0.6 mm. The mean CT-physical registration error for the: phantom experiments is 0.5 mm and for the clinical data obtained with rigid head fixation during scanning is 0.7 mm. The mean CT-MR registration error for the clinical data obtained without rigid head fixation during scanning is 1.4 mm, which is the highest mean error that the authors observed. These theoretical and experimental findings indicate that this system is an accurate navigational aid that can provide real-time feedback to the surgeon about anatomical structures encountered in the surgical field.

Sublabial, Transseptal, Transsphenoidal Approach to the Pituitary Region Guided by the ACUSTAR I System*:

OBJECTIVE: Advances in imaging resolution have resulted in superior visualization of intracranial anatomy. Because of the inherent complexity of the surgical exposure of these lesions, intraoperative localizing techniques are required. Currently, C-arm fluoroscopy provides only two-dimensional localization for these anatomic structures. The recently described ACUSTAR I system, developed in conjunction with Codman and Shurtleff, Inc. (Randolph, Mass.), is an interactive, image-guided device that allows three-dimensional localization with a degree of accuracy previously unattainable. We assessed the clinical utility of the ACUSTAR I system for intraoperative spatial confirmation during transsphenoidal approaches to pituitary lesions. METHODS: Eight patients underwent transsphenoidal approaches to pituitary lesions with the assistance of the ACUSTAR I system. The spatial relationships were clinically judged intraoperatively by the surgeon and by use of traditional C-arm fluoroscopy and then were compared with the ACUSTAR I system results. RESULTS: In all eight patients, the ACUSTAR I system correctly displayed the surgical orientation and provided localization to within less than 1 mm. In two patients, this facilitated the redirection of an errant approach. No complications were associated with the use of this image-guided device. CONCLUSIONS: The ACUSTAR I system is useful in displaying accurate, three-dimensional anatomic relationships during transsphenoidal approaches to pituitary lesions. This system provides critical information intraoperatively to redirect errant approaches and prevent significant morbidity.

Technical advances toward interactive image-guided laparoscopic surgery

AbstractBackground: Laparoscopic surgery uses real-time video to display the operative field. Interactive image-guided surgery (IIGS) is the real-time display of surgical instrument location on corresponding computed tomography (CT) scans or magnetic resonance images (MRI). We hypothesize that laparoscopic IIGS technologies can be combined to offer guidance for general surgery and, in particular, hepatic procedures. Tumor information determined from CT imaging can be overlayed onto laparoscopic video imaging to allow more precise resection or ablation. Methods: We mapped three-dimensional (3D) physical space to 2D laparoscopic video space using a common mathematical formula. Inherent distortions present in the video images were quantified and then corrected to determine their effect on this 3D to 2D mapping. Results: Errors in mapping 3D physical space to 2D video image space ranged from 0.65 to 2.75 mm. Conclusions: Laparoscopic IIGS allows accurate (<3.0 mm) confirmation of 3D physical space points on video images. This in combination with accurately tracked instruments and an appropriate display may facilitate enhanced image guidance during laparoscopy.

A single-point calibration technique for a six degree-of-freedom articulated arm

A technique for calibrating an articulated device used in surgery is presented. The process requires only one point in the work envelope of the device to be known. The calibration procedure discussed, a trinary search technique, improves the performance of the articulated device three- to five-fold.

Dynamic, three-dimensional optical tracking of an ablative laser beam.

Surgical resection remains the treatment of choice for braintumors with infiltrating margins but is currently limited by visual discrimination between normal and neoplastic marginal tissues during surgery. Imaging modalities such as computed tomography, magnetic resonance, positron emission tomography, and optical techniques can accurately localize tumor margins. We believe coupling the fine resolution of current imaging techniques with the precise cutting of midinfrared lasers through image-guided neurosurgery can greatly enhance tumor margin resection. This paper describes a feasibility study designed to optically track in three-dimensional space the articulated arm delivery of a noncontact ablative laser beam. To enable optical tracking of the laser beam focus, infrared-emitting diodes (IREDs) were attached to a handpiece machined for the distal end of the articulated arm of a surgical carbon dioxide laser. Crosstalk between the ablative laser beam and the tracking diodes was measured. The geometry of the adapted laser handpiece was characterized to track an externally attached passive tip and the laser beam focus. Target localization accuracies were assessed for both instrument points-of-interest and the sources of tracking errors were investigated. Stray infrared laser light did not affect optical tracking accuracy. The mean target registration errors while optically tracking the laser handpiece with a passive tip and the laser beam focus were 1.31 ± 0.50 mm and 2.31 ± 0.92 mm , respectively, and were equivalent to the errors tracking a 24-IRED pen probe from Northern Digital in a side-by-side comparison. The majority of error during ablation tracking derived from registration accuracy between physical space and the defined space of the ablation phantom and from an inability to freehand align the laser focus with the target in a consistent manner. While their magnitudes depend on spatial details of the tracking setup (e.g., number and distribution of fiducial points, working distance from the camera, etc.), these errors are inherent to any freehand laser surgery.