Surgical navigation system for image-guided transoral robotic surgery: a proof of concept

Yuan Shi; Yajie Lou; Iroha Shirai; Xiaotian Wu; Joseph A. Paydarfar; Ryan J. Halter

doi:10.1117/12.2613486

4 April 2022 Surgical navigation system for image-guided transoral robotic surgery: a proof of concept

Yuan Shi, Yajie Lou, Iroha Shirai, Xiaotian Wu, Joseph A. Paydarfar, Ryan J. Halter

Proceedings Volume 12034, Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling; 1203409 (2022) https://doi.org/10.1117/12.2613486
Event: SPIE Medical Imaging, 2022, San Diego, California, United States

Abstract

Transoral robotic surgery (TORS) has demonstrated improved surgical outcomes with reduced morbidity when compared to traditional open surgical treatments. However, it is more difficult to assess the extent of tumor and localize critical structures due to lack of haptic feedback and the natural orifice approach. Enabling image-guided TORS (igTORS) to compensate for the sensory deficit requires a surgical navigation system that is compatible with both the TORS procedures and the da Vinci surgical system. Previously, the authors developed an imaging compatible oral retractor system for TORS to allow artifact-free intraoperative CT images for use in image guidance. In this work, we developed a surgical navigation system for TORS that utilizes intraoperative images and electromagnetic (EM) tracking. A cadaver experiment simulating a standard TORS procedure was performed to examine system feasibility and accuracy. A da Vinci Bovie instrument was tracked, and its real-time location was visualized in tri-planar CT images and displayed on the surgeon’s console and on the bedside vision cart using the TilePro feature. Target localization error (TLE) was computed to be 3.46±0.77 mm. This was the first time that surgical navigation in TORS was demonstrated with intraoperative image guidance and EM tracking of da Vinci instruments in a cadaver experiment.

Conference Presentation

Citation Download Citation

Yuan Shi, Yajie Lou, Iroha Shirai, Xiaotian Wu, Joseph A. Paydarfar, and Ryan J. Halter "Surgical navigation system for image-guided transoral robotic surgery: a proof of concept", Proc. SPIE 12034, Medical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling, 1203409 (4 April 2022); https://doi.org/10.1117/12.2613486

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