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Title page for ETD etd-04122012-000137

Type of Document Dissertation
Author Ong, Rowena E
URN etd-04122012-000137
Title Intra-operative Registration Methods for Image-Guided Kidney Surgery
Degree PhD
Department Biomedical Engineering
Advisory Committee
Advisor Name Title
Robert L. Galloway Committee Chair
Benoit Dawant Committee Member
Michael I. Miga Committee Member
Robert J. Webster, III Committee Member
S. Duke Herrell Committee Member
  • laser range scanning
  • minimally invasive surgery
  • registration
  • nephrectomy
  • Surgical navigation
Date of Defense 2012-03-28
Availability unrestricted
In this work, I examined, developed, and validated methods for intra-operative registration in minimally invasive kidney surgery. One of these methods uses a conoscopic laser that can be inserted through a small trocar port to scan the kidney and obtain a surface point cloud. To enable intra-operative feature tracking, a novel method for texture-mapping the conoscopic surface was developed using laparoscopic video. The feasibility and accuracy of this texture-mapping method was evaluated. In addition, a registration method using features tracked from the textured-mapped conoscopic surfaces was investigated for use in-vivo, under laparoscopic conditions in swine. The feasibility and accuracy of the registration method was investigated and shown to be promising.

Finally, to evaluate the need for non-rigid deformation correction in an image guidance system for the kidney, a preliminary study of non-rigid deformation in the kidney was performed. In this study, ex-vivo porcine kidneys were perfused, the renal vessels clamped, and an incision was made to simulate surgical conditions. The resulting deformation was measured, and the fiducial-tracked displacements were interpolated using a spline. The accuracy of this method was assessed, and the results show this method could be used with tracked features from intra-operative conoscopic scans to correct for non-rigid deformation.

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