An automated system for precise percutaneous access of the renal collecting system

A. Bzostek, S. Schreiner, A. G. Barnes, J. A. Cadeddu, W. W. Roberts, J. H. Anderson, R. H. Taylor, L. Kavoussi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Percutaneous surgical procedures are rapidly growing in popularity as they significantly reduce patient morbidity and recovery time when compared to more traditional open techniques. However, percutaneous procedures are often difficult. Percutaneous renal surgery is one example. Gaining access to the renal collecting system requires targeting of a specific calyx while avoiding critical internal structures and requires experience in the interpretation of radiographic images. Currently, this procedure is essentially done manually by trial and error. We present a system which automates the task of image-guided percutaneous needle placement. It is generally applicable to procedures for which the precision and accuracy of a percutaneous needle insertion is of primary concern. It can also be used, with minor modification, as a sub-component of larger systems for more involved procedures, for instance, percutaneous treatment of liver cancer [5]. A prototype system has been implemented, and we present validation of its applicability to renal access with in vitro, ex vivo, and in situ studies. Additionally, we discuss what work remains on the path to a complete system.

Original languageEnglish (US)
Title of host publicationCVRMed-MRCAS 1997 - 1st Joint Conference Computer Vision, Virtual Reality and Robotics in Medicine and Medical Robotics and Computer-Assisted Surgery, Proceedings
EditorsRalph Mösges, Eric Grimson, Jocelyne Troccaz
PublisherSpringer Verlag
Pages299-308
Number of pages10
ISBN (Print)3540627340, 9783540627340
StatePublished - Jan 1 1997
Event1st International Joint Conference on Computer Vision, Virtual Reality, and Robotics in Medicine and Medical Robotics and Computer Assisted Surgery, CVRMed-MRCAS 1997 - Grenoble, France
Duration: Mar 19 1997Mar 22 1997

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1205
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other1st International Joint Conference on Computer Vision, Virtual Reality, and Robotics in Medicine and Medical Robotics and Computer Assisted Surgery, CVRMed-MRCAS 1997
CountryFrance
CityGrenoble
Period3/19/973/22/97

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ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Bzostek, A., Schreiner, S., Barnes, A. G., Cadeddu, J. A., Roberts, W. W., Anderson, J. H., Taylor, R. H., & Kavoussi, L. (1997). An automated system for precise percutaneous access of the renal collecting system. In R. Mösges, E. Grimson, & J. Troccaz (Eds.), CVRMed-MRCAS 1997 - 1st Joint Conference Computer Vision, Virtual Reality and Robotics in Medicine and Medical Robotics and Computer-Assisted Surgery, Proceedings (pp. 299-308). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1205). Springer Verlag.