Initial image-plane assessment of kinematic-based stereo overlay in trans-oral robotic surgery

Michael A. Kokko; Yuan Shi; Joseph A. Paydarfar; Ryan J. Halter

doi:10.1117/12.2655867

3 April 2023 Initial image-plane assessment of kinematic-based stereo overlay in trans-oral robotic surgery

Michael A. Kokko, Yuan Shi, Joseph A. Paydarfar, Ryan J. Halter

Proceedings Volume 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling; 124662I (2023) https://doi.org/10.1117/12.2655867
Event: SPIE Medical Imaging, 2023, San Diego, California, United States

Conference Poster

Abstract

Positive surgical margins are a common complication of trans-oral tumor resection, and implementation of image guidance is typically hindered by significant tissue deformation introduced by oral retractors. Recent advances have produced multiple pathways for developing intraoperative trans-oral image guidance, which must ultimately be displayed to the surgeon in real time. This work presents a pipeline for automatically displaying CT-registered three-dimensional surface structures in the surgeon console of a da Vinci surgical system and assesses image-plane projection accuracy using Dice coefficient and intersection over union metrics. While coarse accuracy is acceptable (metric averages ⪆0.5), more accurate projections were obtained using registration methods based on optically tracking the endoscope shaft. Further improvement of registration, kinematic modeling, and endoscope calibration is necessary prior to use in preclinical evaluation of image guidance strategies for trans-oral robotic surgery.

Citation Download Citation

Michael A. Kokko, Yuan Shi, Joseph A. Paydarfar, and Ryan J. Halter "Initial image-plane assessment of kinematic-based stereo overlay in trans-oral robotic surgery", Proc. SPIE 12466, Medical Imaging 2023: Image-Guided Procedures, Robotic Interventions, and Modeling, 124662I (3 April 2023); https://doi.org/10.1117/12.2655867

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