Patient-Specific Biomechanical Modeling for Guidance During
Minimally-Invasive Hepatic Surgery

PLANTEFÈVE, Rosalie, Igor PETERLÍK, Nazim HAOUCHINE and Stéphane COTIN. Patient-Specific Biomechanical Modeling for Guidance During Minimally-Invasive Hepatic Surgery. ANNALS OF BIOMEDICAL ENGINEERING. NEW YORK: SPRINGER, 2016, vol. 44, No 1, p. 139-153. ISSN 0090-6964. Available from: https://dx.doi.org/10.1007/s10439-015-1419-z.

Other formats: BibTeX LaTeX RIS

TY  - JOUR
ID  - 1336327
AU  - Plantefève, Rosalie - Peterlík, Igor - Haouchine, Nazim - Cotin, Stéphane
PY  - 2016
TI  - Patient-Specific Biomechanical Modeling for Guidance During Minimally-Invasive Hepatic Surgery
JF  - ANNALS OF BIOMEDICAL ENGINEERING
VL  - 44
IS  - 1
SP  - 139-153
EP  - 139-153
PB  - SPRINGER
SN  - 00906964
KW  - Patient-specific modeling
KW  - Non-rigid registration
KW  - Minimally-invasive surgery
KW  - Real-time simulation
UR  - https://hal.inria.fr/hal-01205194
N2  - During the minimally-invasive liver surgery, only the partial surface view of the liver is usually provided to the surgeon via the laparoscopic camera. Therefore, it is necessary to estimate the actual position of the internal structures such as tumors and vessels from the pre-operative images. Nevertheless, such task can be highly challenging since during the intervention, the abdominal organs undergo important deformations due to the pneumoperitoneum, respiratory and cardiac motion and the interaction with the surgical tools. Therefore, a reliable automatic system for intra-operative guidance requires fast and reliable registration of the pre- and intra-operative data. In this paper we present a complete pipeline for the registration of pre-operative patient-specific image data to the sparse and incomplete intra-operative data. While the intra-operative data is represented by a point cloud extracted from the stereo-endoscopic images, the pre-operative data is used to reconstruct a biomechanical model which is necessary for accurate estimation of the position of the internal structures, considering the actual deformations. This model takes into account the patient-specific liver anatomy composed of parenchyma, vascularization and capsule, and is enriched with anatomical boundary conditions transferred from an atlas. The registration process employs the iterative closest point technique together with a penalty-based method. We perform a quantitative assessment based on the evaluation of the target registration error on synthetic data as well as a qualitative assessment on real patient data. We demonstrate that the proposed registration method provides good results in terms of both accuracy and robustness w. r. t. the quality of the intra-operative data.
ER  -

Basic information
Original name	Patient-Specific Biomechanical Modeling for Guidance During Minimally-Invasive Hepatic Surgery
Name in Czech	Biomechanické Modelování pro Navigaci Speficickou pro Pacienta během minimimálně invasivní hepatické chirurgie
Authors	PLANTEFÈVE, Rosalie (250 France), Igor PETERLÍK (703 Slovakia, belonging to the institution), Nazim HAOUCHINE (12 Algeria) and Stéphane COTIN (250 France).
Edition	ANNALS OF BIOMEDICAL ENGINEERING, NEW YORK, SPRINGER, 2016, 0090-6964.

Other information
Original language	English
Type of outcome	Article in a journal
Field of Study	10201 Computer sciences, information science, bioinformatics
Country of publisher	Germany
Confidentiality degree	is not subject to a state or trade secret
WWW	URL
Impact factor	Impact factor: 3.221
RIV identification code	RIV/00216224:14610/16:00089426
Organization unit	Institute of Computer Science
Doi	http://dx.doi.org/10.1007/s10439-015-1419-z
UT WoS	000367330800012
Keywords in English	Patient-specific modeling; Non-rigid registration; Minimally-invasive surgery; Real-time simulation
Tags	rivok
Tags	International impact, Reviewed
Changed by	Changed by: Mgr. Alena Mokrá, učo 362754. Changed: 27/4/2018 10:06.

Abstract

During the minimally-invasive liver surgery, only the partial surface view of the liver is usually provided to the surgeon via the laparoscopic camera. Therefore, it is necessary to estimate the actual position of the internal structures such as tumors and vessels from the pre-operative images. Nevertheless, such task can be highly challenging since during the intervention, the abdominal organs undergo important deformations due to the pneumoperitoneum, respiratory and cardiac motion and the interaction with the surgical tools. Therefore, a reliable automatic system for intra-operative guidance requires fast and reliable registration of the pre- and intra-operative data. In this paper we present a complete pipeline for the registration of pre-operative patient-specific image data to the sparse and incomplete intra-operative data. While the intra-operative data is represented by a point cloud extracted from the stereo-endoscopic images, the pre-operative data is used to reconstruct a biomechanical model which is necessary for accurate estimation of the position of the internal structures, considering the actual deformations. This model takes into account the patient-specific liver anatomy composed of parenchyma, vascularization and capsule, and is enriched with anatomical boundary conditions transferred from an atlas. The registration process employs the iterative closest point technique together with a penalty-based method. We perform a quantitative assessment based on the evaluation of the target registration error on synthetic data as well as a qualitative assessment on real patient data. We demonstrate that the proposed registration method provides good results in terms of both accuracy and robustness w. r. t. the quality of the intra-operative data.

PrintDisplayed: 18/7/2024 12:36

Patient-Specific Biomechanical Modeling for Guidance During Minimally-Invasive Hepatic Surgery

Other applications