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Title: Projection-based visual guidance for robot-aided RF needle insertion
Authors: Wen, R.
Chui, C.-K. 
Ong, S.-H. 
Lim, K.-B. 
Chang, S.K.-Y.
Keywords: Augmented interaction
Augmented reality
Image-guided surgery
Projector-camera system
Radiofrequency ablation
Visual guidance
Issue Date: Nov-2013
Citation: Wen, R., Chui, C.-K., Ong, S.-H., Lim, K.-B., Chang, S.K.-Y. (2013-11). Projection-based visual guidance for robot-aided RF needle insertion. International Journal of Computer Assisted Radiology and Surgery 8 (6) : 1015-1025. ScholarBank@NUS Repository.
Abstract: Purpose: The use of projector-based augmented reality (AR) in surgery may enable surgeons to directly view anatomical models and surgical data from the patient's surface (skin). It has the advantages of a consistent viewing focus on the patient, an extended field of view and augmented interaction. This paper presents an AR guidance mechanism with a projector-camera system to provide the surgeon with direct visual feedback for supervision of robotic needle insertion in radiofrequency (RF) ablation treatment. Methods: The registration of target organ models to specific positions on the patient body is performed using a surface-matching algorithm and point-based registration. An algorithm based on the extended Kalman filter and spatial transformation is used to intraoperatively compute the virtual needle's depth in the patient's body for AR display. Results: Experiments of this AR system on a mannequin were conducted to evaluate AR visualization and accuracy of virtual RF needle insertion. The average accuracy of 1.86 mm for virtual needle insertion met the clinical requirement of 2 mm or better. The feasibility of augmented interaction with a surgical robot using the proposed open AR interface with active visual feedback was demonstrated. Conclusions: The experimental results demonstrate that this guidance system is effective in assisting a surgeon to perform a robot-assisted radiofrequency ablation procedure. The novelty of the work lies in establishing a navigational procedure for percutaneous surgical augmented intervention integrating a projection-based AR guidance and robotic implementation for surgical needle insertion. © 2013 CARS.
Source Title: International Journal of Computer Assisted Radiology and Surgery
ISSN: 18616410
DOI: 10.1007/s11548-013-0897-4
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