A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: toward image registration in minimally invasive surgery.

Burgner J, Simpson AL, Fitzpatrick JM, Lathrop RA, Herrell SD, Miga MI, Webster RJ
Int J Med Robot. 2013 9 (2): 190-203

PMID: 22761086 · PMCID: PMC3819208 · DOI:10.1002/rcs.1446

BACKGROUND - Registered medical images can assist with surgical navigation and enable image-guided therapy delivery. In soft tissues, surface-based registration is often used and can be facilitated by laser surface scanning. Tracked conoscopic holography (which provides distance measurements) has been recently proposed as a minimally invasive way to obtain surface scans. Moving this technique from concept to clinical use requires a rigorous accuracy evaluation, which is the purpose of our paper.

METHODS - We adapt recent non-homogeneous and anisotropic point-based registration results to provide a theoretical framework for predicting the accuracy of tracked distance measurement systems. Experiments are conducted a complex objects of defined geometry, an anthropomorphic kidney phantom and a human cadaver kidney.

RESULTS - Experiments agree with model predictions, producing point RMS errors consistently < 1 mm, surface-based registration with mean closest point error < 1 mm in the phantom and a RMS target registration error of 0.8 mm in the human cadaver kidney.

CONCLUSIONS - Tracked conoscopic holography is clinically viable; it enables minimally invasive surface scan accuracy comparable to current clinical methods that require open surgery.

Copyright © 2012 John Wiley & Sons, Ltd.

MeSH Terms (13)

Computer-Aided Design Equipment Design Equipment Failure Analysis Holography Imaging, Three-Dimensional Laparoscopy Lasers Minimally Invasive Surgical Procedures Reproducibility of Results Robotics Sensitivity and Specificity Subtraction Technique Surgery, Computer-Assisted

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