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Publication Detail
Image Guidance in Robot Assisted Prostatectomy
  • Publication Type:
    Conference presentation
  • Publication Sub Type:
  • Authors:
    Thompson SA, Penney G, Dasgupta P, Hawkes D
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  • Keywords:
    image guidance, prostatectomy, robot
Background: We present an image guidance system for robot assisted radical prostatectomy and the results of patient trials. We propose to align preoperative MRI to the patient immediately prior to surgery using tracked ultrasound of the pelvic bone. By tracking and calibrating the robot endoscope it is possible to overlay the MRI image onto the surgeon’s view through the endoscope. System accuracy has been determined experimentally with each of the following sources of error quantified: 1. Segmentation of pelvic bone. 2. Registration using ultrasound. 3. Optical tracking through surgical drapes. 4. Equipment calibration errors. Methods: Experiments to determine the system accuracy were performed using 3 cadavers and a customised plastic pelvis phantom. A preliminary system has been used to collect data on two patients. More cases are pending where the full system will be trialled. Results: The results of the phantom and cadaver studies give a system accuracy of 7mm. Based on the results of the patient trials this appears sufficient to give the surgeon a useful overlay image. Conclusion: The patient trials indicate the full system should be practical for use in robot assisted prostatectomy. By overlaying MRI information onto the surgical scene the surgeon is able to rapidly identify correspondence between the MRI and the video image, enabling better intra-operative decision making and hence improved patient outcomes.
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