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Pratt P, Mayer E, Vale J, et al. An effective visualisation and registration system for image-guided robotic partial nephrectomy. J Robot Surg. 2012;6(1):23-31doi: 10.1007/s11701-011-0334-z.
Pratt, P., Mayer, E., Vale, J., Cohen, D., Edwards, E., Darzi, A., & Yang, G. Z. (2012). An effective visualisation and registration system for image-guided robotic partial nephrectomy. Journal of robotic surgery, 6(1), 23-31. https://doi.org/10.1007/s11701-011-0334-z
Pratt, Philip, et al. "An effective visualisation and registration system for image-guided robotic partial nephrectomy." Journal of robotic surgery vol. 6,1 (2012): 23-31. doi: https://doi.org/10.1007/s11701-011-0334-z
Pratt P, Mayer E, Vale J, Cohen D, Edwards E, Darzi A, Yang GZ. An effective visualisation and registration system for image-guided robotic partial nephrectomy. J Robot Surg. 2012 Mar;6(1):23-31. doi: 10.1007/s11701-011-0334-z. Epub 2012 Jan 13. PMID: 27637976.
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J Robot Surg. 2012 Mar;6(1):23-31. doi: 10.1007/s11701-011-0334-z. Epub 2012 Jan 13.

An effective visualisation and registration system for image-guided robotic partial nephrectomy.

Journal of robotic surgery

Philip Pratt, Erik Mayer, Justin Vale, Daniel Cohen, Eddie Edwards, Ara Darzi, Guang-Zhong Yang

Affiliations

  1. Hamlyn Centre for Robotic Surgery, Imperial College London, Bessemer Building, South Kensington Campus, Exhibition Road, London, SW7 2AZ, UK. [email protected].
  2. Department of Surgery and Cancer, Imperial College London, London, UK.
  3. Hamlyn Centre for Robotic Surgery, Imperial College London, Bessemer Building, South Kensington Campus, Exhibition Road, London, SW7 2AZ, UK.

PMID: 27637976 DOI: 10.1007/s11701-011-0334-z

Abstract

Robotic partial nephrectomy is presently the fastest-growing robotic surgical procedure, and in comparison to traditional techniques it offers reduced tissue trauma and likelihood of post-operative infection, while hastening recovery time and improving cosmesis. It is also an ideal candidate for image guidance technology since soft tissue deformation, while still present, is localised and less problematic compared to other surgical procedures. This work describes the implementation and ongoing development of an effective image guidance system that aims to address some of the remaining challenges in this area. Specific innovations include the introduction of an intuitive, partially automated registration interface, and the use of a hardware platform that makes sophisticated augmented reality overlays practical in real time. Results and examples of image augmentation are presented from both retrospective and live cases. Quantitative analysis of registration error verifies that the proposed registration technique is appropriate for the chosen image guidance targets.

Keywords: Image guidance; Partial nephrectomy; Real-time video processing; Robotic surgery; Spatial registration; Tumour resection

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