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

doi:10.1109/TMI.2015.2498125

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 journal › Article › peer-review

15 Scopus citations

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 language	English (US)
Article number	7321051
Pages (from-to)	830-838
Number of pages	9
Journal	IEEE transactions on medical imaging
Volume	35
Issue number	3
DOIs	https://doi.org/10.1109/TMI.2015.2498125
State	Published - Mar 2016
Externally published	Yes

Keywords

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

ASJC Scopus subject areas

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

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10.1109/TMI.2015.2498125

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title = "First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping",

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.",

keywords = "Endoscopy/laparoscopy, SPECT, image-guided treatment, surgical guidance/navigation",

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

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.",

year = "2016",

month = mar,

doi = "10.1109/TMI.2015.2498125",

language = "English (US)",

volume = "35",

pages = "830--838",

journal = "IEEE transactions on medical imaging",

issn = "0278-0062",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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T1 - First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping

AU - Fuerst, Bernhard

AU - Sprung, Julian

AU - Pinto, Francisco

AU - Frisch, Benjamin

AU - Wendler, Thomas

AU - Simon, Herve

AU - Mengus, Laurent

AU - Van Den Berg, Nynke S.

AU - Van Der Poel, Henk G.

AU - Van Leeuwen, Fijs W.B.

AU - Navab, Nassir

PY - 2016/3

Y1 - 2016/3

N2 - 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.

AB - 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.

KW - Endoscopy/laparoscopy

KW - SPECT

KW - image-guided treatment

KW - surgical guidance/navigation

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VL - 35

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EP - 838

JO - IEEE transactions on medical imaging

JF - IEEE transactions on medical imaging

IS - 3

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ER -

First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping

Abstract

Keywords

ASJC Scopus subject areas

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