Abstract
New methods of imaging and image guidance technology have the potential to provide surgeons with spatially accurate three-dimensional information about the location and anatomical relationships of critical intraoperative subsurface and nonvisualized structures and surgeon instrumentation location and positioning. This guidance is spatially accurate and updated and displayed in real time during the performance of surgery. Robotic platforms and technology in various forms possess critical advantages that allow for robust image guidance in a variety of forms. Development of new robotic platforms continues to promise revolutionary changes in surgery and procedural interventions and will soon incorporate and potentially become more dependent on image guidance. Various iterations of image-guided surgery (IGS) for abdominal and urologic interventions exist and present complex engineering and surgical challenges along with potential benefits to surgeons and patients. Key concepts such as registration, localization, accuracy, and targeting error are necessary for surgeons to understand and utilize the potential benefits of IGS as well as understand the risks. Standard urologic robotic surgeries, such as partial nephrectomy and radical prostatectomy, may soon incorporate a variety of forms of IGS. Research continues to explore the potential for combining image guidance and robotics to augment and improve surgical interventions.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Balachandran R, Schurzig D, Fitzpatrick JM, Labadie RF. Evaluation of portable CT scanners for otologic image-guided surgery. Int J Comput Assist Radiol Surg. 2011;7:315–321.
Galloway RL. The process and development of image-guided procedures. Annu Rev Biomed Eng. 2001;3:83–108.
Arun KSK, Huang TST, Blostein SDS. Least-squares fitting of two 3-d point sets. Pattern Anal Mach Intell IEEE Trans. 1987;9(5):698–700. Available from: http://eutils.ncbi.nlm.nih.gov/entrez/eutils/elink.fcgi?dbfrom=pubmed%26id=21869429%26retmode=ref%26cmd=prlinks.
Horn BKP. Relative orientation revisited. J Opt Soc Am A. 1991;8(10):1630. Available from: http://www.opticsinfobase.org/abstract.cfm?URI=josaa-8-10-1630.
Besl PJ, McKay ND. IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II archive. IEEE Computer Society Washington, DC, USA table of contents. 1992;14(2):239–56. doi: 10.1109/34.121791.
Roberts DWD, Strohbehn JWJ, Hatch JFJ, Murray WW, Kettenberger HH. A frameless stereotaxic integration of computerized tomographic imaging and the operating microscope. J Neurosurg. 1986;65(4):545–9. Available from: http://thejns.org/doi/abs/ 10.3171/jns.1986.65.4.0545@sup.2010.112.issue-2.
Watanabe EE, Watanabe TT, Manaka SS, Mayanagi YY, Takakura KK. Three-dimensional digitizer (neuronavigator): new equipment for computed tomography-guided stereotaxic surgery. Surg Neurol. 1987;27(6):543–7. Available from: http://eutils.ncbi.nlm.nih.gov/entrez/eutils/elink.fcgi?dbfrom=pubmed%26id=3554569%26retmode=ref%26cmd=prlinks.
Herrell SD, Galloway RL, Su L-M. Image-guided robotic surgery: update on research and potential applications in urologic surgery. Curr Opin Urol. 2012;22(1):47–54.
Herrell SD, Kwartowitz DM, Milhoua PM, Galloway RL. Toward image guided robotic surgery: system validation. J Urol. 2009;181(2):783–9; discussion 789–90.
Kwartowitz DM, Miga MI, Herrell SD, Galloway RL. Towards image guided robotic surgery: multi-arm tracking through hybrid localization. Int J Comput Assist Radiol Surg. 2009;4(3):281–6.
Herline AJ, Stefansic JD, Debelak JP, Hartmann SL, Pinson CW, Galloway RL, et al. Image-guided surgery: preliminary feasibility studies of frameless stereotactic liver surgery. Arch Surg (Chicago, Ill: 1960) [Internet]. 1999;134(6):644–9; discussion 649–50. Available from: http://eutils.ncbi.nlm.nih.gov/entrez/eutils/elink.fcgi?dbfrom=pubmed%26id=10367875%26retmode=ref%26cmd=prlinks.
Beller S, Hünerbein M, Lange T, Eulenstein S, Gebauer B, Schlag PM. Image-guided surgery of liver metastases by three-dimensional ultrasound-based optoelectronic navigation. Br J Surg. 2007;94(7):866–75. Available from: http://doi.wiley.com/ 10.1002/bjs.5712.
Baumhauer M, Simpfendörfer T, Müller-Stich B, Teber D, Gutt C, Rassweiler J, et al. Soft tissue navigation for laparoscopic partial nephrectomy. Int J Comput Assist Radiol Surg. 2008;3(3):307–14. Available from: http://link.springer.com/article/ 10.1007/s11548-008-0216-7.
Atuegwu NC, Galloway RL. Volumetric characterization of the Aurora magnetic tracker system for image-guided transorbital endoscopic procedures. Phys Med Biol. 2008;53(16):4355–68. Available from: http://eutils.ncbi.nlm.nih.gov/entrez/eutils/elink.fcgi?dbfrom=pubmed%26id=18660560%26retmode=ref%26cmd=prlinks.
Clifford MAM, Banovac FF, Levy EE, Cleary KK. Assessment of hepatic motion secondary to respiration for computer assisted interventions. Comput Aided Surg. 2002;7(5):291–9. Available from: http://onlinelibrary.wiley.com/doi/ 10.1002/igs.10049/full.
West JB, Fitzpatrick JM, Toms SA, Maurer CR, Maciunas RJ. Fiducial point placement and the accuracy of point-based, rigid body registration. Neurosurgery. 2001;48(4):810–6; discussion 816–7.
Porter BC, Rubens DJ, Strang JG, Smith J, Totterman S, Parker KJ. Three-dimensional registration and fusion of ultrasound and MRI using major vessels as fiducial markers. IEEE Trans Med Imaging. 2001;20(4):354–9. Available from: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=921484.
Nowatschin S, Markert M, Weber S, Lueth TC. A system for analyzing intraoperative B-Mode ultrasound scans of the liver. Conf Proc IEEE Eng Med Biol Soc. 2007;2007:1346–9. Available from: http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4352547.
Rauth TP, Rauth TP, Bao PQ, Bao PQ, Galloway RL, Galloway RL, et al. Laparoscopic surface scanning and subsurface targeting: implications for image-guided laparoscopic liver surgery. Surgery. 2007;142(2):207–14. Available from: http://eutils.ncbi.nlm.nih.gov/entrez/eutils/elink.fcgi?dbfrom=pubmed%26id=17689687%26retmode=ref%26cmd=prlinks.
Ong RE, Glisson C, Altamar H, Viprakasit D, Clark P, Herrell SD, et al. Intraprocedural registration for image-guided kidney surgery. IEEE ASME Trans Mechatron. 2010;15(6):847–52.
Dimaio S, Kapur T, Cleary K, Aylward S, Kazanzides P, Vosburgh K, et al. Challenges in image-guided therapy system design. Neuroimage. 2007;37 Suppl 1:S144–51.
Miga MIM, Sinha TKT, Cash DMD, Galloway RLR, Weil RJR. Cortical surface registration for image-guided neurosurgery using laser-range scanning. IEEE Trans Med Imaging. 2003;22(8):973–85.
Clements LWL, Chapman WCW, Dawant BMB, Galloway RLR, Miga MIM. Robust surface registration using salient anatomical features for image-guided liver surgery: algorithm and validation. Med Phys. 2008;35(6):2528–40.
Benincasa ABA, Clements LWL, Herrell SDS, Galloway RLR. Feasibility study for image-guided kidney surgery: assessment of required intraoperative surface for accurate physical to image space registrations. Med Phys. 2008;35(9):4251–61.
Altamar HO, Ong RE, Glisson CL, Viprakasit DP, Miga MI, Herrell SD, et al. Kidney deformation and intraprocedural registration: a study of elements of image-guided kidney surgery. J Endourol. 2011;25(3):511–7.
Galloway RL, Herrell SD, Miga MI. Image-guided abdominal surgery and therapy delivery. J Healthcare Eng. 2012;3(2):203–28.
Heizmann O, Zidowitz S, Bourquain H, Potthast S, Peitgen H-O, Oertli D, et al. Assessment of intraoperative liver deformation during hepatic resection: prospective clinical study. World J Surg. 2010;34(8):1887–93.
Lange T, Wenckebach TH, Lamecker H, Seebass M, Hünerbein M, Eulenstein S, et al. Registration of different phases of contrast-enhanced CT/MRI data for computer-assisted liver surgery planning: evaluation of state-of-the-art methods. Int J Med Robot. 2005;1(3):6–20.
Dumpuri P, Clements LW, Dawant BM, Miga MI. Model-updated image-guided liver surgery: preliminary results using surface characterization. Prog Biophys Mol Biol. 2010;103(2–3):11–1.
Herline AJ, Herring JL, Stefansic JD, Chapman WC, Galloway RL, Dawant BM. Surface registration for use in interactive, image-guided liver surgery. Comput Aided Surg. 2000;5(1):11–7.
Miga MI, Cash DM, Cao Z, Galloway RL, Dawant B, Chapman WC. Intraoperative registration of the liver for image-guided surgery using laser range scanning and deformable models, Medical Imaging 2003: Visualization, Image-guided Procedures, and Display. Proc. of the SPIE. 2003;5029:350–9.
Clements LW, Dumpuri P, Chapman WC, Galloway RL, Miga MI. Atlas-based method for model updating in image-guided liver surgery. In: Cleary KR, Miga MI, editors. Medical imaging. Bellingham: SPIE; 2007. p. 650917.
Kwartowitz DM, Herrell SD, Galloway RL. Update: toward image-guided robotic surgery: determining the intrinsic accuracy of the daVinci-S robot. Int J Comput Assist Radiol Surg. 2007;1(5):301–4.
Lathrop RA, Hackworth DM, Webster RJ. Minimally invasive holographic surface scanning for soft-tissue image registration. IEEE Trans Biomed Eng. 2010;57(6):1497–506.
Sirat BY, Paz F, Agronik G, Wilner K. Conoscopic holography. In: Iancu O, Manea A, Schiopu P, Cojoc D, editors. SPIE proceedings. Bellingham: SPIE; 2005;5972:376. ISBN: 9780819459916.
Burgner J, Simpson AL, Fitzpatrick JM, Lathrop RA, Herrell SD, Miga MI, et al. A study on the theoretical and practical accuracy of conoscopic holography-based surface measurements: toward image registration in minimally invasive surgery. Int J Med Robot. 2012;9:190–203.
Ukimura O, Gill IS. Image-fusion, augmented reality, and predictive surgical navigation. Urol Clin North Am. 2009;36(2):115–23, vii.
Teber D, Guven S, Simpfendörfer T, Baumhauer M, Güven EO, Yencilek F, et al. Augmented reality: a new tool to improve surgical accuracy during laparoscopic partial nephrectomy? Preliminary in vitro and in vivo results. Eur Urol. 2009;56(2):332–8.
Su L-M, Vagvolgyi BP, Agarwal R, Reiley CE, Taylor RH, Hager GD. Augmented reality during robot-assisted laparoscopic partial nephrectomy: toward real-time 3D-CT to stereoscopic video registration. Urology. 2009;73(4):896–900.
Mirota DJ, Ishii M, Hager GD. Vision-based navigation in image-guided interventions. Annu Rev Biomed Eng. 2011;13:297–319.
Campbell SC, Novick AC, Belldegrun A, Blute ML, Chow GK, Derweesh IH, et al. Guideline for management of the clinical T1 renal mass. J Urol. 2009;182(4):1271–9.
Leveillee RJ, Ramanathan R. Optimization of image-guided targeting in renal focal therapy. J Endourol. 2010;24(5):729–44.
Wood BJ, Locklin JK, Viswanathan A, Kruecker J, Haemmerich D, Cebral J, et al. Technologies for guidance of radiofrequency ablation in the multimodality interventional suite of the future. J Vasc Interv Radiol. 2007;18(1 Pt 1):9–24.
Krücker J, Xu S, Venkatesan A, Locklin JK, Amalou H, Glossop N, et al. Clinical utility of real-time fusion guidance for biopsy and ablation. J Vasc Interv Radiol. 2011;22(4):515–24.
Roujol S, Ries M, Quesson B, Moonen C, Denis de Senneville B. Real-time MR-thermometry and dosimetry for interventional guidance on abdominal organs. Magn Reson Med. 2010;63(4):1080–7.
Rieke V, Butts Pauly K. MR thermometry. J Magn Reson Imaging. 2008;27(2):376–90.
Mozer P, Troccaz J, Stoianovici D. Urologic robots and future directions. Curr Opin Urol. 2009;19(1):114–9.
Pollock R, Mozer P, Guzzo TJ, Marx J, Matlaga B, Petrisor D, et al. Prospects in percutaneous ablative targeting: comparison of a computer-assisted navigation system and the AcuBot robotic system. J Endourol. 2010;24(8):1269–72.
Bonekamp D, Jacobs MA, El-Khouli R, Stoianovici D, Macura KJ. Advancements in MR imaging of the prostate: from diagnosis to interventions. Radiographics. 2011;31(3):677–703.
Rucker DC, Jones BA, Webster RJ. A geometrically exact model for externally loaded concentric-tube continuum robots. IEEE Trans Robot. 2010;26(5):769–80.
Ukimura O, Magi-Galluzzi C, Gill IS. Real-time transrectal ultrasound guidance during laparoscopic radical prostatectomy: impact on surgical margins. J Urol. 2006;175(4):1304–10.
Han M, Kim C, Mozer P, Schäfer F, Badaan S, Vigaru B, et al. Tandem-robot assisted laparoscopic radical prostatectomy to improve the neurovascular bundle visualization: a feasibility study. Urology. 2011;77(2):502–6.
Turkbey B, Mani H, Shah V, Rastinehad AR, Bernardo M, Pohida T, et al. Multiparametric 3T prostate magnetic resonance imaging to detect cancer: histopathological correlation using prostatectomy specimens processed in customized magnetic resonance imaging based molds. J Urol. 2011;186(5):1818–24.
Krieger A, Iordachita II, Guion P, Singh AK, Kaushal A, Ménard C, et al. An MRI-compatible robotic system with hybrid tracking for MRI-guided prostate intervention. IEEE Trans Biomed Eng. 2011;58(11):3049–60.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer Science+Business Media New York
About this chapter
Cite this chapter
Herrell, S.D., Galloway, R.L., Miga, M.I. (2015). Image Guidance in Robotic-Assisted Renal Surgery. In: Liao, J., Su, LM. (eds) Advances in Image-Guided Urologic Surgery. Springer, New York, NY. https://doi.org/10.1007/978-1-4939-1450-0_18
Download citation
DOI: https://doi.org/10.1007/978-1-4939-1450-0_18
Published:
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4939-1449-4
Online ISBN: 978-1-4939-1450-0
eBook Packages: MedicineMedicine (R0)