First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping

Bernhard Fuerst, Julian Sprung, Francisco Pinto, Benjamin Frisch, Thomas Wendler, Herve Simon, Laurent Mengus, Nynke S. Van Den Berg, Henk G. Van Der Poel, Fijs W.B. Van Leeuwen, Nassir Navab

Research output: Contribution to journalArticle

Abstract

In this paper we present the usage of a drop-in gamma probe for intra-operative Single-Photon Emission Computed Tomography (SPECT) imaging in the scope of minimally invasive robot-assisted interventions. The probe is designed to be inserted and reside inside the abdominal cavity during the intervention. It is grasped during the procedure using a robotic laparoscopic gripper enabling full six degrees of freedom handling by the surgeon. We demonstrate the first deployment of the tracked probe for intra-operative in-patient robotic SPECT enabling augmented-reality image guidance. The hybrid mechanical-and image-based in-patient probe tracking is shown to have an accuracy of 0.2 mm. The overall system performance is evaluated and tested with a phantom for gynecological sentinel lymph node interventions and compared to ground-truth data yielding a mean reconstruction accuracy of 0.67 mm.

Original languageEnglish (US)
Article number7321051
Pages (from-to)830-838
Number of pages9
JournalIEEE Transactions on Medical Imaging
Volume35
Issue number3
DOIs
StatePublished - Mar 1 2016

Fingerprint

Single photon emission computed tomography
Robotics
Single-Photon Emission-Computed Tomography
Patient Identification Systems
Abdominal Cavity
Grippers
Augmented reality
Degrees of freedom (mechanics)
Robots
Imaging techniques
Sentinel Lymph Node
Surgeons

Keywords

  • Endoscopy/laparoscopy
  • image-guided treatment
  • SPECT
  • surgical guidance/navigation

ASJC Scopus subject areas

  • Software
  • Radiological and Ultrasound Technology
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Fuerst, B., Sprung, J., Pinto, F., Frisch, B., Wendler, T., Simon, H., ... Navab, N. (2016). First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping. IEEE Transactions on Medical Imaging, 35(3), 830-838. [7321051]. https://doi.org/10.1109/TMI.2015.2498125

First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping. / Fuerst, Bernhard; Sprung, Julian; Pinto, Francisco; Frisch, Benjamin; Wendler, Thomas; Simon, Herve; Mengus, Laurent; Van Den Berg, Nynke S.; Van Der Poel, Henk G.; Van Leeuwen, Fijs W.B.; Navab, Nassir.

In: IEEE Transactions on Medical Imaging, Vol. 35, No. 3, 7321051, 01.03.2016, p. 830-838.

Research output: Contribution to journalArticle

Fuerst, B, Sprung, J, Pinto, F, Frisch, B, Wendler, T, Simon, H, Mengus, L, Van Den Berg, NS, Van Der Poel, HG, Van Leeuwen, FWB & Navab, N 2016, 'First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping', IEEE Transactions on Medical Imaging, vol. 35, no. 3, 7321051, pp. 830-838. https://doi.org/10.1109/TMI.2015.2498125
Fuerst, Bernhard ; Sprung, Julian ; Pinto, Francisco ; Frisch, Benjamin ; Wendler, Thomas ; Simon, Herve ; Mengus, Laurent ; Van Den Berg, Nynke S. ; Van Der Poel, Henk G. ; Van Leeuwen, Fijs W.B. ; Navab, Nassir. / First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping. In: IEEE Transactions on Medical Imaging. 2016 ; Vol. 35, No. 3. pp. 830-838.
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