1
|
Bodard S, Guinebert S, Dimopoulos PM, Tacher V, Cornelis FH. Contribution and advances of robotics in percutaneous oncological interventional radiology. Bull Cancer 2024; 111:967-979. [PMID: 39198085 DOI: 10.1016/j.bulcan.2024.06.004] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/02/2024] [Revised: 05/13/2024] [Accepted: 06/03/2024] [Indexed: 09/01/2024]
Abstract
The advent of robotic systems in interventional radiology marks a significant evolution in minimally invasive medical procedures, offering enhanced precision, safety, and efficiency. This review comprehensively analyzes the current state and applications of robotic system usage in interventional radiology, which can be particularly helpful for complex procedures and in challenging anatomical regions. Robotic systems can improve the accuracy of interventions like microwave ablation, radiofrequency ablation, and irreversible electroporation. Indeed, studies have shown a notable decrease of an average 30% in the mean deviation of probes, and a 40% lesser need for adjustments during interventions carried out with robotic assistance. Moreover, this review highlights a 35% reduction in radiation dose and a stable-to-30% reduction in operating time associated with robot-assisted procedures compared to manual methods. Additionally, the potential of robotic systems to standardize procedures and minimize complications is discussed, along with the challenges they pose, such as setup duration, organ movement, and a lack of tactile feedback. Despite these advancements, the field still grapples with a dearth of randomized controlled trials, which underscores the need for more robust evidence to validate the efficacy and safety of robotic system usage in interventional radiology.
Collapse
Affiliation(s)
- Sylvain Bodard
- Department of Radiology, Memorial Sloan Kettering Cancer Center, 1275 York Avenue, New York, NY 10065, USA; Department of Radiology, Necker Hospital, University of Paris-Cité, 149 rue de Sèvres, 75015 Paris, France; CNRS UMR 7371, Inserm U 1146, laboratoire d'imagerie biomédicale, Sorbonne University, 75006 Paris, France.
| | - Sylvain Guinebert
- Department of Radiology, Memorial Sloan Kettering Cancer Center, 1275 York Avenue, New York, NY 10065, USA
| | - Platon M Dimopoulos
- Department of Radiology, Memorial Sloan Kettering Cancer Center, 1275 York Avenue, New York, NY 10065, USA; Interventional Radiodolgy Dpt, University Hospital of Patras with memorial, 26504 Rio, Greece
| | - Vania Tacher
- Unité Inserm U955 n(o) 18, service d'imagerie médicale, hôpital Henri-Mondor, université Paris-Est, AP-HP, Créteil, France
| | - Francois H Cornelis
- Department of Radiology, Memorial Sloan Kettering Cancer Center, 1275 York Avenue, New York, NY 10065, USA; Department of Radiology, Tenon Hospital, Sorbonne University, 4, rue de la Chine, 75020 Paris, France; Weill Cornell Medical College, 1300 York Avenue, New York, NY 10065, USA
| |
Collapse
|
2
|
Bodard S, Guinebert S, Tacher V, Cornelis FH. The Emergence of robotics in liver interventional radiology: Navigating New Frontiers. Eur J Radiol 2024; 175:111482. [PMID: 38691945 DOI: 10.1016/j.ejrad.2024.111482] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/13/2024] [Revised: 04/03/2024] [Accepted: 04/25/2024] [Indexed: 05/03/2024]
Affiliation(s)
- Sylvain Bodard
- Memorial Sloan Kettering Cancer Center (MSK), Department of Radiology, 1275 York Avenue, New York, NY 10065, USA; University of Paris Cité, Department of Radiology, Necker Hospital, 149 rue de Sèvre, 75015, Paris, France; Sorbonne University, CNRS UMR 7371, INSERM U 1146, Laboratoire d'Imagerie Biomédicale, 75006, Paris, France.
| | - Sylvain Guinebert
- Memorial Sloan Kettering Cancer Center (MSK), Department of Radiology, 1275 York Avenue, New York, NY 10065, USA; University of Paris Cité, Department of Radiology, Necker Hospital, 149, Rue de Sèvre, 75015, Paris, France
| | - Vania Tacher
- PARIS EST University, Unité INSERM U955 n°18, AP-HP, Henri Mondor Hospital, Department of Radiology, 94000, Créteil, France
| | - Francois H Cornelis
- Memorial Sloan Kettering Cancer Center (MSK), Department of Radiology, 1275 York Avenue, New York, NY 10065, USA; Sorbonne University, Department of Radiology, Tenon Hospital, 4 rue de la Chine, 75020 Paris, France; Weill Cornell Medical College, 1300 York Avenue, New York, NY 10065, USA
| |
Collapse
|
3
|
Bodard S, Guinebert S, N. Petre E, Marinelli B, Sarkar D, Barral M, H Cornelis F. Percutaneous liver interventions with robotic systems: a systematic review of available clinical solutions. Br J Radiol 2023; 96:20230620. [PMID: 37873927 PMCID: PMC10646656 DOI: 10.1259/bjr.20230620] [Citation(s) in RCA: 7] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/30/2023] [Revised: 09/19/2023] [Accepted: 09/28/2023] [Indexed: 10/25/2023] Open
Abstract
OBJECTIVE Robotic-guided interventions are emerging techniques that are gradually becoming a common tool for performing biopsies and tumor ablations in liver. This systematic review aims to evaluate their advancements, challenges, and outcomes. METHODS A systematic review was conducted using the PubMed database to identify relevant articles published between January 2000 and February 2023. Inclusion criteria focused on studies that assessed robotic systems for percutaneous liver biopsies and tumor ablations. Data extraction was performed to collect information on study characteristics; robotic systems; components and software; imaging modality; degree of freedom; and needle insertion methods. The outcome measures analyzed were procedure time, radiation dose, and accuracy. RESULTS 10 studies met the inclusion criteria. The robotic devices used included MAXIO, EPIONE, ROBIO-EX, AcuBot, and ACE robotic systems. The data set consisted of 429 percutaneous thermal ablations and 57 biopsies, both robot-guided. On average, the mean deviation of probes was reduced by 30% (from 1.6 vs 3.3 mm to 2.4 vs 3.9 mm (p < 0.001)), and 40% (p < 0.05) fewer readjustments were required during the robotic-assisted interventions. Moreover, robotic systems contributed to a reduction in operating time, ranging from 15% (18.3 vs 21.7 min, p < 0.001) to 25% (63.5 vs 87.4 min, p < 0.001). Finally, the radiation dose delivered to both the patient and the operator was decreased by an average of 50% (p < 0.05) compared to manual procedures. ADVANCES IN KNOWLEDGE Robotic systems could provide precise navigation and guidance during liver biopsies and percutaneous ablations.
Collapse
Affiliation(s)
| | - Sylvain Guinebert
- Department of Radiology, University of Paris Cité, Necker Hospital, Paris, France
| | - Elena N. Petre
- Department of Radiology, Memorial Sloan Kettering Cancer Center, New York, United States
| | - Brett Marinelli
- Department of Radiology, Memorial Sloan Kettering Cancer Center, New York, United States
| | - Debkumar Sarkar
- Department of Radiology, Memorial Sloan Kettering Cancer Center, New York, United States
| | - Matthias Barral
- Department of Radiology, Sorbonne University, Tenon Hospital, Paris, France
| | | |
Collapse
|
4
|
Zheng L, Zhang Z, Wang Z, Bao K, Yang L, Yan B, Yan Z, Ye W, Yang R. A multiple closed-loops robotic calibration for accurate surgical puncture. Int J Med Robot 2021; 17:e2242. [PMID: 33591646 DOI: 10.1002/rcs.2242] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/06/2020] [Revised: 02/04/2021] [Accepted: 02/08/2021] [Indexed: 12/23/2022]
Abstract
BACKGROUND Robotic puncture system increasingly demands stringent standard in target location accuracy. The positional and orientational transformation relationships among all components of the system are supposed to be calibrated and identified preoperatively. AIMS The target location performance is directly determined by the calibration result. Therefore, a multiple closed-loops calibration approach is proposed to achieve high-level calibration accuracy in robotic puncture system. MATERIALS & METHODS: This method takes as input the three-dimensional position information of the retro-reflective markers mounted on the surgical tool, which is detected by the optical tracking system in real time during robotic movement. There is less complicated mathematical derivation and calculation in the presented algorithm by applying the closed-loop principle. RESULTS Experimental results validate that it can achieve accurate robotic target location with less input data and computation-cost, satisfying the clinical puncture requirements. DISCUSSION The spatial calibration between robotic arm and optical tracking system efficiently realised by the presented approach present an alternative which can be safely applied to the robotic puncture system for accurate insertion. CONCLUSION Overall, a multiple closed-loops calibration approach is proposed in this work, which may increase surgical efficiency.
Collapse
Affiliation(s)
- Lingxiang Zheng
- School of Materials Science and Engineering, South China University of Technology, Guangzhou, China
| | - Zhesi Zhang
- School of Materials Science and Engineering, South China University of Technology, Guangzhou, China
| | | | - Kaiyang Bao
- School of Materials Science and Engineering, South China University of Technology, Guangzhou, China
| | - Lin Yang
- Department of Radiology, Guangdong General Hospital, Guangzhou, China
| | - Biao Yan
- School of Materials Science and Engineering, South China University of Technology, Guangzhou, China
| | - Zeping Yan
- School of Mathematics, University of Edinburgh, Edinburgh, UK
| | - Weitao Ye
- Department of Radiology, Guangdong General Hospital, Guangzhou, China
| | - Rongqian Yang
- School of Materials Science and Engineering, South China University of Technology, Guangzhou, China
| |
Collapse
|
5
|
Wang H, Xu Z, Grantham K, Zhou Y, Cui T, Zhang Y, Liu B, Wang X, Vergalasova I, Reyhan M, Weiner J, Danish SF, Yue N, Nie K. Performance assessment of two motion management systems for frameless stereotactic radiosurgery. Strahlenther Onkol 2021; 197:150-157. [PMID: 33047151 PMCID: PMC7840652 DOI: 10.1007/s00066-020-01688-8] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/06/2020] [Accepted: 08/24/2020] [Indexed: 11/24/2022]
Abstract
BACKGROUND/PURPOSE Frameless stereotactic radiosurgery (SRS) requires dedicated systems to monitor patient motion in order to avoid inaccurate radiation delivery due to involuntary shifts. The purpose of this study is to assess the accuracy and sensitivity of two distinct motion monitoring systems used for frameless SRS. METHODS A surface image-guided system known as optical surface monitoring system (OSMS), and a fiducial marker-based system known as high definition motion management (HDMM) as part of the latest Gamma Knife Icon® were compared. A 3D printer-based cranial motion phantom was developed to evaluate the accuracy and sensitivity of these two systems in terms of: (1) the capability to recognize predefined shifts up to 3 cm, and (2) the capability to recognize predefined speeds up to 3 cm/s. The performance of OSMS, in terms of different reference surfaces, was also evaluated. RESULTS Translational motion could be accurately detected by both systems, with an accuracy of 0.3 mm for displacement up to 1 cm, and 0.5 mm for larger displacements. The reference surface selection had an impact on OSMS performance, with flat surface resulting in less accuracy. HDMM was in general more sensitive when compared with OSMS in capturing the motion, due to its faster frame rate, but a delay in response was observed with faster speeds. Both systems were less sensitive in detection of superior-inferior motion when compared to lateral or vertical displacement directions. CONCLUSION Translational motion can be accurately and sensitively detected by OSMS and HDMM real-time monitoring systems. However, performance variations were observed along different motion directions, as well as amongst the selection of reference images. Caution is needed when using real-time monitoring systems for frameless SRS treatment.
Collapse
Affiliation(s)
- Hao Wang
- Department of Radiation Oncology, Shanghai Chest Hospital, Shanghai Jiao Tong University, Shanghai, China
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Zhiyong Xu
- Department of Radiation Oncology, Shanghai Chest Hospital, Shanghai Jiao Tong University, Shanghai, China
| | - Kevin Grantham
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Yongkang Zhou
- Department of Radiation Oncology, Zhongshan Hospital, Shanghai, China
| | - Taoran Cui
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Yin Zhang
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Bo Liu
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Xiao Wang
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Irina Vergalasova
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Meral Reyhan
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Joseph Weiner
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Shabbar F Danish
- Department of Neurosurgery, Rutgers-Robert Wood Johnson Medical School, New Brunswick, NJ, USA
| | - Ning Yue
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA
| | - Ke Nie
- Department of Radiation Oncology, Rutgers-Cancer Institute of New Jersey, Rutgers-Robert Wood Johnson Medical School, 195 Little Albany St., New Brunswick, NJ, USA.
| |
Collapse
|
6
|
Optimization Model for the Distribution of Fiducial Markers in Liver Intervention. J Med Syst 2020; 44:83. [PMID: 32152742 DOI: 10.1007/s10916-020-01548-z] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/26/2019] [Accepted: 02/18/2020] [Indexed: 10/24/2022]
Abstract
The distribution of fiducial markers is one of the main factors affected the accuracy of optical navigation system. However, many studies have been focused on improving the fiducial registration accuracy or the target registration accuracy, but few solutions involve optimization model for the distribution of fiducial markers. In this paper, we propose an optimization model for the distribution of fiducial markers to improve the optical navigation accuracy. The strategy of optimization model is reducing the distribution from three dimensional to two dimensional to obtain the 2D optimal distribution by using optimization algorithm in terms of the marker number and the expectation equation of target registration error (TRE), and then extend the 2D optimal distribution in two dimensional to three dimensional to calculate the optimal distribution according to the distance parameter and the expectation equation of TRE. The results of the experiments show that the averaged TRE for the human phantom is approximately 1.00 mm by applying the proposed optimization model, and the averaged TRE for the abdominal phantom is 0.59 mm. The experimental results of liver simulator model and ex-vivo porcine liver model show that the proposed optimization model can be effectively applied in liver intervention.
Collapse
|
7
|
Zhang Z, Shao G, Zheng J, Wen S, Zeng H, Hao W, Luo J, Guo L. Electromagnetic navigation to assist with computed tomography-guided thermal ablation of liver tumors. MINIM INVASIV THER 2019; 29:275-282. [PMID: 31393746 DOI: 10.1080/13645706.2019.1649699] [Citation(s) in RCA: 13] [Impact Index Per Article: 2.2] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/23/2023]
Abstract
Purpose: To evaluate the advantages and primary technical efficacy of an electromagnetic (EM) navigation system for computed tomography (CT)-guided thermal ablation of liver tumors.Material and methods: From August 2016 to January 2018, 40 patients scheduled for CT- guided thermal ablation were prospectively enrolled and divided into two groups. Twenty patients underwent CT-guided thermal ablation with an EM navigation system (navigation group), while the other 20 patients underwent conventional CT-guided thermal ablation (control group). Data on skin punctures, instrument adjustments, puncture time to target, CT scans, CT fluoroscopy time and dose-length-product (DLP) were compared between the two groups. Any postoperative complications were recorded and the primary technical efficacy was evaluated four to six weeks after the procedure.Results: All 20 patients in the navigation group successfully underwent EM navigation. Compared to the control group, there were fewer instrument adjustments (mean 2.40 vs. 4.95; p = .003), fewer CT scans (mean 7.10 vs. 10.30; p = .006), less CT fluoroscopy time (mean 40.47 vs. 59.98 s, p = .046), and less DLP (mean 807.39 vs. 1578.67 mGy × cm; p = .001). Although not statistically significant, EM navigation resulted in fewer skin punctures (mean 1.20 vs. 1.25; p = .803) and slightly longer puncture time to target (mean 16.50 vs. 15.20 min; p = .725). No patients experienced major complications and the primary efficacy rate was 90% and 84.21% in the navigation and control groups, respectively (p = .661).Conclusions: EM navigation system optimizes the thermal ablation process and reduces radiation exposure in patients. However, further studies are warranted to determine whether an EM navigation system can improve procedure time, complication rates, and primary technical efficiacy of thermal ablation.
Collapse
Affiliation(s)
- Zhewei Zhang
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| | - Guoliang Shao
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| | - Jiaping Zheng
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| | - Song Wen
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| | - Hui Zeng
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| | - Weiyuan Hao
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| | - Jun Luo
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| | - Liwen Guo
- Department of Interventional Radiology, Zhejiang Cancer Hospital, Hangzhou, China
| |
Collapse
|
8
|
An open electromagnetic tracking framework applied to targeted liver tumour ablation. Int J Comput Assist Radiol Surg 2019; 14:1475-1484. [PMID: 31030387 DOI: 10.1007/s11548-019-01983-5] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/29/2019] [Accepted: 04/16/2019] [Indexed: 12/30/2022]
Abstract
PURPOSE Electromagnetic tracking is a core platform technology in the navigation and visualisation of image-guided procedures. The technology provides high tracking accuracy in non-line-of-sight environments, allowing instrument navigation in locations where optical tracking is not feasible. EMT can be beneficial in applications such as percutaneous radiofrequency ablation for the treatment of hepatic lesions where the needle tip may be obscured due to difficult liver environments (e.g subcutaneous fat or ablation artefacts). Advances in the field of EMT include novel methods of improving tracking system accuracy, precision and error compensation capabilities, though such system-level improvements cannot be readily incorporated in current therapy applications due to the 'blackbox' nature of commercial tracking solving algorithms. METHODS This paper defines a software framework to allow novel EMT designs, and improvements become part of the global design process for image-guided interventions. An exemplary framework is implemented in the Python programming language and demonstrated with the open-source Anser EMT system. The framework is applied in the preclinical setting though targeted liver ablation therapy on an animal model. RESULTS The developed framework was tested with the Anser EMT electromagnetic tracking platform. Liver tumour targeting was performed using the tracking framework with the CustusX navigation platform using commercially available electromagnetically tracked needles. Ablation of two tumours was performed with a commercially available ablation system. Necropsy of the tumours indicated ablations within 5 mm of the tumours. CONCLUSIONS An open-source framework for electromagnetic tracking was presented and effectively demonstrated in the preclinical setting. We believe that this framework provides a structure for future advancement in EMT system in and customised instrument design.
Collapse
|
9
|
An Accurate Recognition of Infrared Retro-Reflective Markers in Surgical Navigation. J Med Syst 2019; 43:153. [PMID: 31020459 DOI: 10.1007/s10916-019-1257-x] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 12/14/2018] [Accepted: 03/27/2019] [Indexed: 10/26/2022]
Abstract
Marker-based optical tracking systems (OTS) are widely used in clinical image-guided therapy. However, the emergence of ghost markers, which is caused by the mistaken recognition of markers and the incorrect correspondences between marker projections, may lead to tracking failures for these systems. Therefore, this paper proposes a strategy to prevent the emergence of ghost markers by identifying markers based on the features of their projections, finding the correspondences between marker projections based on the geometric information provided by markers, and fast-tracking markers in a 2D image between frames based on the sizes of their projections. Apart from validating its high robustness, the experimental results show that the proposed strategy can accurately recognize markers, correctly identify their correspondences, and meet the requirements of real-time tracking.
Collapse
|
10
|
Lin Q, Cai K, Yang R, Xiao W, Huang J, Zhan Y, Zhuang J. Geometric calibration of markerless optical surgical navigation system. Int J Med Robot 2019; 15:e1978. [PMID: 30556944 DOI: 10.1002/rcs.1978] [Citation(s) in RCA: 9] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/07/2018] [Revised: 12/11/2018] [Accepted: 12/12/2018] [Indexed: 12/19/2022]
Abstract
BACKGROUND Patient-to-image registration is required for image-guided surgical navigation, but marker-based registration is time consuming and is subject to manual error. Markerless registration is an alternative solution to avoid these issues. METHODS This study designs a calibration board and proposes a geometric calibration method to calibrate the near-infrared tracking and structured light components of the proposed optical surgical navigation system simultaneously. RESULTS A planar board and a cylinder are used to evaluate the accuracy of calibration. The mean error for the board experiment is 0.035 mm, and the diameter error for the cylinder experiment is 0.119 mm. A calibration board is reconstructed to evaluate the accuracy of the calibration, and the measured mean error is 0.012 mm. A head phantom is reconstructed and tracked by the proposed optical surgical navigation system. The tracking error is less than 0.3 mm. CONCLUSIONS Experimental results show that the proposed method obtains high accessibility and accuracy and satisfies application requirements.
Collapse
Affiliation(s)
- Qinyong Lin
- School of Medicine, South China University of Technology, Guangzhou, China
| | - Ken Cai
- School of Basic Medical Sciences, Southern Medical University, Guangzhou, China.,College of Automation, Zhongkai University of Agriculture and Engineering, Guangzhou, China
| | - Rongqian Yang
- Department of Biomedical Engineering, South China University of Technology, Guangzhou, China.,School of Medicine, Yale University, New Haven, Connecticut.,Guangdong Engineering Technology Research Center for Translational Medicine of Mental Disorders, Guangzhou, China
| | - Weihu Xiao
- Department of Biomedical Engineering, South China University of Technology, Guangzhou, China
| | - Jinhua Huang
- Department of Minimally Invasive Interventional Radiology, Sun Yat-sen University Cancer Center, Guangzhou, China
| | - Yinwei Zhan
- School of Computer Science and Technology, Guangdong University of Technology, Guangzhou, China
| | - Jian Zhuang
- Department of Cardiac Surgery, Guangdong Cardiovascular Institute, Guangdong General Hospital, Guangdong Academy of Medical Science, Guangzhou, China
| |
Collapse
|
11
|
Fuhrmann I, Probst U, Wiggermann P, Beyer L. Navigation Systems for Treatment Planning and Execution of Percutaneous Irreversible Electroporation. Technol Cancer Res Treat 2018; 17:1533033818791792. [PMID: 30071779 PMCID: PMC6077881 DOI: 10.1177/1533033818791792] [Citation(s) in RCA: 18] [Impact Index Per Article: 2.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/18/2022] Open
Abstract
The application of navigational systems has the potential to improve percutaneous interventions. The accuracy of ablation probe placement can be increased and radiation doses reduced. Two different types of systems can be distinguished, tracking systems and robotic systems. This review gives an overview of navigation devices for clinical application and summarizes first findings in the implementation of navigation in percutaneous interventions using irreversible electroporation. Because of the high number of navigation systems, this review focuses on commercially available ones.
Collapse
Affiliation(s)
- Irene Fuhrmann
- 1 Department of Radiology, University Hospital Regensburg, Regensburg, Germany
| | - Ute Probst
- 1 Department of Radiology, University Hospital Regensburg, Regensburg, Germany
| | - Philipp Wiggermann
- 1 Department of Radiology, University Hospital Regensburg, Regensburg, Germany
| | - Lukas Beyer
- 1 Department of Radiology, University Hospital Regensburg, Regensburg, Germany
| |
Collapse
|
12
|
Beyer LP, Wiggermann P. Planning and guidance: New tools to enhance the human skills in interventional oncology. Diagn Interv Imaging 2017; 98:583-588. [PMID: 28818346 DOI: 10.1016/j.diii.2017.07.004] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.8] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/15/2017] [Accepted: 07/12/2017] [Indexed: 12/13/2022]
Abstract
Navigation systems have the potential to achieve a high accuracy for percutaneous ablation of tumors even for those in difficult locations. In the last years, successful research has been conducted to make navigation devices applicable to percutaneous tumor ablation with special planning software that now allows high accuracy even for deep-located small lesions close to critical structures. Because of the high number of available navigation systems, this review focuses on those with preexisting clinical studies.
Collapse
Affiliation(s)
- L P Beyer
- Department of Radiology, University Medical Center Regensburg, Franz-Josef-Strauß-Allee 11, 93053 Regensburg, Germany.
| | - P Wiggermann
- Department of Radiology, University Medical Center Regensburg, Franz-Josef-Strauß-Allee 11, 93053 Regensburg, Germany
| |
Collapse
|
13
|
Xiao D, Li Y, Luo H, Zhang Y, Guo X, Zheng H, Hu Q, Jia F. In vivo comparison of two navigation systems for abdominal percutaneous needle intervention. Abdom Radiol (NY) 2017; 42:1993-2000. [PMID: 28217826 DOI: 10.1007/s00261-017-1083-x] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/16/2023]
Abstract
PURPOSE To compare the accuracy of a Kinect-Optical navigation system with an electromagnetic (EM) navigation system for percutaneous liver needle intervention. MATERIALS AND METHODS Five beagles with nine artificial tumors were used for validation. The Veran IG4 EM navigation system and a custom-made Kinect-Optical navigation system were used. Needle insertions into each tumor were conducted with these two guidance methods. The target positioning error (TPE) and the time cost of the puncture procedures were evaluated. RESULTS A total of 18 needle insertions were performed to evaluate the navigation accuracy of the two guidance approaches. The targeting error was 6.78 ± 3.22 mm and 8.72 ± 3.5 mm for the Kinect-Optical navigation system and the EM navigation system, respectively. There is no statistically significant difference in the TPE between the Kinect-Optical navigation system and the EM navigation system (p = 0.229). The processing time with the Kinect-Optical system (10 min) is similar to that of the Veran IG4 system (12 min). CONCLUSIONS The accuracy of the Kinect-Optical navigation system is comparable to that of the EM navigation system.
Collapse
Affiliation(s)
- Deqiang Xiao
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China
- Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China
| | - Yong Li
- Department of Interventional Radiology, Shenzhen People's Hospital, No. 1017, Dongmen North Rd., Luohu, Shenzhen, China
| | - Huoling Luo
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China
- Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China
| | - Yanfang Zhang
- Department of Interventional Radiology, Shenzhen People's Hospital, No. 1017, Dongmen North Rd., Luohu, Shenzhen, China.
| | - Xuejun Guo
- Department of Radiology, Peking University Shenzhen Hospital, No. 1120, Lianhua Rd, Futian, Shenzhen, China
| | - Huimin Zheng
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China
| | - Qingmao Hu
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China
- Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China
| | - Fucang Jia
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China.
- Shenzhen College of Advanced Technology, University of Chinese Academy of Sciences, No. 1068, Xueyuan Avenue, Xili Nanshan, Shenzhen, China.
| |
Collapse
|
14
|
Sánchez Y, Anvari A, Samir AE, Arellano RS, Prabhakar AM, Uppot RN. Navigational Guidance and Ablation Planning Tools for Interventional Radiology. Curr Probl Diagn Radiol 2017; 46:225-233. [DOI: 10.1067/j.cpradiol.2016.11.002] [Citation(s) in RCA: 16] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/13/2016] [Accepted: 11/08/2016] [Indexed: 12/14/2022]
|
15
|
Xu L, Cai K, Yang R, Lin Q, Yue H, Liu F. Simulation of multi-probe radiofrequency ablation guided by optical surgery navigation system under different active modes. Comput Assist Surg (Abingdon) 2016; 21:107-116. [DOI: 10.1080/24699322.2016.1210679] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023] Open
Affiliation(s)
- Leyi Xu
- Department of Biomedical Engineering, South China University of Technology, Guangzhou, China
| | - Ken Cai
- School of Information Science and Technology, Zhongkai University of Agriculture and Engineering, Guangzhou, China
| | - Rongqian Yang
- Department of Biomedical Engineering, South China University of Technology, Guangzhou, China
| | - Qinyong Lin
- Department of Biomedical Engineering, South China University of Technology, Guangzhou, China
| | - Hongwei Yue
- School of Information Engineering, Wuyi University, Jiangmen, China
| | - Feng Liu
- School of Information Technology and Electrical Engineering, the University of Queensland, Brisbane, QLD, Australia
| |
Collapse
|
16
|
Eisele RM. Advances in local ablation of malignant liver lesions. World J Gastroenterol 2016; 22:3885-3891. [PMID: 27099433 PMCID: PMC4823240 DOI: 10.3748/wjg.v22.i15.3885] [Citation(s) in RCA: 15] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 12/24/2015] [Revised: 02/23/2016] [Accepted: 03/14/2016] [Indexed: 02/06/2023] Open
Abstract
Local ablation of liver tumors matured during the recent years and is now proven to be an effective tool in the treatment of malignant liver lesions. Advances focus on the improvement of local tumor control by technical innovations, individual selection of imaging modalities, more accurate needle placement and the free choice of access to the liver. Considering data found in the current literature for conventional local ablative treatment strategies, virtually no single technology is able to demonstrate an unequivocal superiority. Hints at better performance of microwave compared to radiofrequency ablation regarding local tumor control, duration of the procedure and potentially achievable larger size of ablation areas favour the comparably more recent treatment modality; image fusion enables more patients to undergo ultrasound guided local ablation; magnetic resonance guidance may improve primary success rates in selected patients; navigation and robotics accelerate the needle placement and reduces deviation of needle positions; laparoscopic thermoablation results in larger ablation areas and therefore hypothetically better local tumor control under acceptable complication rates, but seems to be limited to patients with no, mild or moderate adhesions following earlier surgical procedures. Apart from that, most techniques appear technically feasible, albeit demanding. Which technology will in the long run become accepted, is subject to future work.
Collapse
|
17
|
Development and Validation of a Near-Infrared Optical System for Tracking Surgical Instruments. J Med Syst 2016; 40:107. [DOI: 10.1007/s10916-016-0462-0] [Citation(s) in RCA: 15] [Impact Index Per Article: 1.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/26/2015] [Accepted: 02/01/2016] [Indexed: 11/27/2022]
|