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Computer-assisted access to the kidney.
Abstract
International audienceOBJECTIVES: The aim of this paper is to introduce the principles of computer-assisted access to the kidney. The system provides the surgeon with a pre-operative 3D planning on computed tomography (CT) images. After a rigid registration with space-localized ultrasound (US) data, preoperative planning can be transferred to the intra-operative conditions and an intuitive man-machine interface allows the user to perform a puncture. MATERIAL AND METHODS: Both CT and US images of informed normal volunteer were obtained to perform calculation on the accuracy of registration and punctures were carried out on a kidney phantom to measure the precision of the whole of the system. RESULTS: We carried out millimetric registrations on real data and guidance experiments on a kidney phantom showed encouraging results of 4.7 mm between planned and reached targets. We noticed that the most significant error was related to the needle deflection during the puncture. CONCLUSION: Preliminary results are encouraging. Further work will be undertaken to improve efficiency and accuracy, and to take breathing into account- info:eu-repo/semantics/article
- Journal articles
- Computer-Assisted Surgery
- 2.5D echography
- Kidney
- MESH: Humans
- MESH: Imaging, Three-Dimensional
- MESH: User-Computer Interface
- MESH: Kidney
- MESH: Patient Care Planning
- MESH: Phantoms, Imaging
- MESH: Punctures
- MESH: Reproducibility of Results
- MESH: Surgery, Computer-Assisted
- MESH: Tomography, X-Ray Computed
- MESH: Ultrasonography
- [SPI.MECA.BIOM]Engineering Sciences [physics]/Mechanics [physics.med-ph]/Biomechanics [physics.med-ph]
- [PHYS.MECA.BIOM]Physics [physics]/Mechanics [physics]/Biomechanics [physics.med-ph]
- [SDV.IB]Life Sciences [q-bio]/Bioengineering
- [INFO.INFO-IM]Computer Science [cs]/Medical Imaging