Organ-confined prostate cancer represents a commonly diagnosed cancer among men rendering an early diagnosis and screening a necessity. The prostate laparoscopic surgery using the da Vinci system is a minimally invasive, computer assisted and image-guided surgery application that provides surgeons with (i) navigational assistance by displaying targeting lesions of the intraoperative prostate anatomy onto aligned preoperative high-field magnetic resonance imaging (MRI) scans of the pelvis; and (ii) an effective clinical management of intra-abdominal cancers in real time. Such an image guidance system can improve both functional and oncological outcomes as well as augment the learning curve of the process increasing simultaneously the eligibility of patients for surgical resection. By segmenting MRI scans into 3D models of intraprostatic anatomy preoperatively, and overlaying them onto 3D stereoendoscopic images acquired intraoperatively using the da Vinci surgical system, a graphical representation of intraoperative anatomy can be provided for surgical navigation. The preoperative MRI surfaces are full 3D models and the stereoendoscopic images represent partial 3D views of the prostate due to occlusion. Hence achieving an accurate non-rigid image registration of full prostate surfaces onto occluded ones in real time becomes of critical importance, especially for use intraoperatively with the stereoendoscopic and MRI imaging modalities. This work exploits the registration accuracy that can be achieved from the application of selected state-of-the-art non-rigid registration algorithms and in doing so identifies the most accurate technique(s) for registration of full prostate surfaces onto occluded ones; a series of rigorous computational registration experiments is performed on synthetic target prostate data, which are aligned manually onto the MRI prostate models before registration is initiated. This effort extends to using real target prostate data leading to visually acceptable non-rigid registration results. A ...
Registration of prostate surfaces for image-guided robotic surgery via the da Vinci System
2015-09-28
Doctoral thesis, UCL (University College London).
Theses
Electronic Resource
English
DDC: | 629 |
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