Dynamic Shape Instantiation for Intra-operative Navigation

October 9, 2012 at 12:30 pm by

Place: Large Lecture Room
Affiliation: The Hamlyn Centre for Robotic Surgery, Imperial College London, UK


The incorporation of image guidance can assist with the tracking of soft tissue undergoing complex deformation due to biological processes or tool-tissue interaction intra-operatively. We are now looking towards the incorporation of 3D models for visualisation and guidance. Unlike pre-operative imaging, however, only a limited amount of data can be obtained intra-operatively; it is difficult to obtain images spanning the entire 3D volume of the anatomy of interest rapidly. We propose a dynamic 3D shape instantiation scheme to provide subject-specific optimal scan planning. Using only limited data acquired intra-operatively, it is possible to instantiate the entire 3D geometry of the organ of interest live. We also demonstrate the Instantiability Index to determine the most robust imaging scan plane to be collected intra-operatively. Application to minimally invasive liver procedures and intravascular interventions will be shown.