3D evaluation model of facial aesthetics based on multi-input 3D convolution neural networks for orthognathic surgery.

BACKGROUND: Quantitative evaluation of facial aesthetics is an important but also time-consuming procedure in orthognathic surgery, while existing 2D beauty-scoring models are mainly used for entertainment with less clinical impact. METHODS: A deep-learning-based 3D evaluation model DeepBeauty3D was designed and trained using 133 patients' CT images. The customised image preprocessing module extracted the skeleton, soft tissue, and personal physical information from raw DICOM data, and the predicting network module employed 3-input-2-output convolution neural networks (CNN) to receive the aforementioned data and output aesthetic scores automatically. RESULTS: Experiment results showed that this model predicted the skeleton and soft tissue score with 0.231 ± 0.218 (4.62%) and 0.100 ± 0.344 (2.00%) accuracy in 11.203 ± 2.824 s from raw CT images. CONCLUSION: This study provided an end-to-end solution using real clinical data based on 3D CNN to quantitatively evaluate facial aesthetics by considering three anatomical factors simultaneously, showing promising potential in reducing workload and bridging the surgeon-patient aesthetics perspective gap.

Design consideration on integration of mechanical intravascular ultrasound and electromagnetic tracking sensor for intravascular reconstruction.

PURPOSE: Considering vessel deformation, endovascular navigation requires intraoperative geometric information. Mechanical intravascular ultrasound (IVUS) with an electromagnetic (EM) sensor can be used to reconstruct blood vessels with thin diameter. However, the integration design should be evaluated based on the factors affecting the reconstruction error. METHODS: The interference between the mechanical IVUS and EM sensor was measured in different relative positions. Two designs of the integrated catheter were evaluated by measuring the reconstruction errors using a rigid vascular phantom. RESULTS: When the distance from the EM sensor to the field generator was 75 mm, the interference from mechanical IVUS to an EM sensor was negligible, with position and rotation errors less than 0.1 mm and 0.6°, respectively. The reconstructed vessel model for proximal IVUS transducer had a smooth surface but an inaccurate shape at large curvature of the vascular phantom. When the distance to the field generator was 175 mm, the error increased significantly. CONCLUSION: Placing the IVUS transducer on the proximal side of the EM sensor is superior in terms of interference reduction but inferior in terms of mechanical stability compared to a distal transducer. The distal side is preferred due to better mechanical stability during catheter manipulation at larger curvature. With this configuration, surface reconstruction errors less than 1.7 mm (with RMS 0.57 mm) were achieved when the distance to the field generator was less than 175 mm.

Diameters of lingual, facial, and maxillary arteries measured according to an objective protocol on 3D computed tomography angiography images.

PURPOSE: Retrograde superselective intra-arterial chemoradiotherapy is a radical treatment for advanced oral cancer. The catheter tip is placed into tumor-feeding arteries-the lingual, facial, or maxillary arteries. The diameter of the tumor-feeding arteries newly bifurcated from the external carotid artery is crucial for determining the requirement of a catheter navigation system. This study aimed to measure the diameter and distribution of the tumor-feeding artery according to an objective protocol using 3D computed tomography angiography images reproducibly. METHODS: Angiographic data of 20 noncatheterized carotid arteriesof 10 randomly selected patients were analyzed. We followed the external carotid artery to the entrance of each feeding artery to determine the center point where the artery diameter was measured. The diameter of the optimum circle measured at the adopted center point was taken as the diameter of each tumor-feeding artery. RESULTS: The diameters (mean ± standard deviation) were 3.5 ± 0.45, 2.9 ± 0.56, and 3.5 ± 0.56 mm for the maxillary, lingual, and facial arteries, respectively. The diameters of the maxillary and facial arteries were similar (p = 0.877), whereas the diameter of the lingual artery was smaller than that of the maxillary and facial arteries (p < 0.001). CONCLUSION: The findings of this study will be beneficial in determining the need of a new catheter navigation system and diameter of catheters to be used in the clinical practice. From the viewpoint of measurement automation and reproducibility, 3DCTA vessel measurement taken according to the proposed protocol was considered to be effective.

Tissue histology on the correlation between fracture energy and elasticity.

PURPOSE: Preemptively estimating tissue damage is crucial for a safe surgical procedure. We previously investigated the possibility of estimating the fracture energies of biological tissues based on their elasticities. However, the reason behind the presence of these correlations is poorly understood. In this study, we investigate the effect of a tissue's histology on the correlation between the fracture energy and elasticity. We hypothesize that two tissues with similar fibrous structure will show a similar correlation between the fracture energy and elasticity. METHODS: Porcine duodenum were used for this study. Two tensile tests were performed for each porcine duodenum specimen to determine its elasticity and tearing energy. The correlation between fracture energy and elasticity was then investigated using the results from the mechanical tests. Furthermore, duodenum specimens were fixed in 10% formalin while under tension. Microscopic images were then taken to visualize the fibrous structure within the duodenum tissues under tension. RESULTS: The results from the tensile test showed that the fracture energy had an isotropic positive and linear correlation with the elasticity to the negative 0.5th power (R2 = 0.89), which was also previously reported in small intestinal (jejunum) specimens. Furthermore, the tearing patterns of the duodenum were identical to the ones reported in the jejunum. Hematoxylin and eosin staining on tissues fixed under tension showed that the endomysium fibers are involved in providing resistance toward traction. CONCLUSION: Through mechanical tests, we showed that porcine duodenum tissues also have a correlation between its fracture energy and elasticity. We also discussed that the histological structure of a tissue is an important factor that dictates how the tearing energy of a tissue will correlate to the elasticity. We understood that since the tearing mechanism between the duodenum and jejunum was similar, the correlations between their fracture energies and elasticities were also similar.

Clinical and genetic features of 334 Asian patients with Birt-Hogg-Dubé syndrome (BHDS) who presented with pulmonary cysts with or without a history of pneumothorax, with special reference to BHDS-associated pneumothorax.

BACKGROUND: The clinical pulmonary manifestations and genetic features of Birt-Hogg-Dubé syndrome (BHDS) in Asian patients remained unclear. We aimed to clarify the clinical features of BHDS-associated pneumothorax (PTX) and retrospectively investigate potential contributing factors in the largest Asian cohort to date. METHODS: We reviewed the clinical and genetic data collected in 2006-2017, from the BHDS patients who were Asian and presented with pulmonary cysts with or without a history of PTX. RESULTS: Data from 334 (41.3% males; 58.7% females) patients from 297 unrelated families were reviewed. Among them, 314 (94.0%) patients developed PTX. The median age at the first occurrence of PTX was 32 years, which was significantly lower in males (P = 0.003) and patients without notable skin manifestations (P < 0.001). Seventy-six (24.2%) patients experienced their first PTX episode before the age of 25 years. PTX simultaneously occurred in the bilateral lungs of 37 (11.8%) patients. Among 149 patients who had their first PTX episode at least 10 years before BHDS diagnosis, PTX occurred more frequently in males (P = 0.030) and light smokers than in nonsmokers (P = 0.014). The occurrence of PTX peaked in the early 30s and gradually decreased with age but remained high in females (P = 0.001). We identified 70 unique FLCN germline variants, including duplications (46.4%), substitutions (7.1%), insertions/deletions (30.0%), and variants affecting splicing (12.5%). Approximately 80% of Asian patients suspected of having BHDS could be genetically diagnosed by examining FLCN exons 7, 9, 11, 12, and 13. No apparent genotype-phenotype correlation regarding pulmonary manifestations was identified. CONCLUSIONS: Our findings indicate that sex, smoking history, and skin manifestations at BHDS diagnosis significantly influence the clinical features of BHDS-associated PTX. These findings may contribute to the appropriate management and treatment of BHDS-associated PTX.

Occlusion-robust scene flow-based tissue deformation recovery incorporating a mesh optimization model.

PURPOSE: Tissue deformation recovery is to reconstruct the change in shape and surface strain caused by tool-tissue interaction or respiration, which is essential for providing motion and shape information that benefits the improvement of the safety of minimally invasive surgery. The binocular vision-based approach is a practical candidate for deformation recovery as no extra devices are required. However, previous methods suffer from limitations such as the reliance on biomechanical priors and the vulnerability to the occlusion caused by surgical instruments. To address the issues, we propose a deformation recovery method incorporating mesh structures and scene flow. METHODS: The method can be divided into three modules. The first one is the implementation of the two-step scene flow generation module to extract the 3D motion from the binocular sequence. Second, we propose a strain-based filtering method to denoise the original scene flow. Third, a mesh optimization model is proposed that strengthens the robustness to occlusion by employing contextual connectivity. RESULTS: In a phantom and an in vivo experiment, the feasibility of the method in recovering surface deformation in the presence of tool-induced occlusion was demonstrated. Surface reconstruction accuracy was quantitatively evaluated by comparing the recovered mesh surface with the 3D scanned model in the phantom experiment. Results show that the overall error is 0.70 ± 0.55 mm. CONCLUSION: The method has been demonstrated to be capable of continuously recovering surface deformation using mesh representation with robustness to the occlusion caused by surgical forceps and promises to be suitable for the application in actual surgery.

Tissue damage force estimation in porcine small intestine from its elasticity.

PURPOSE: Post-surgical complications are correlated to the surgeon's technical skill level. Thus, efforts are being put in finding ways to improve the surgeon's technical skills, such as not causing unwanted damage to tissues during surgery. In this study, we aim to investigate the possibility of estimating biological tissue damage, in view of preventing unwanted damage during surgery. METHODS: A series of tensile tests were performed on porcine small intestinal tissue to determine the elasticity and the tearing force. The tissue was then microscopically observed to investigate the influence of fibrous protein configuration in the tissue's mechanical properties. RESULTS: The results from the tensile test showed that the fracture energy had a positive and linear correlation with the elasticity to the negative 0.5th power (R2 = 0.897), which was also suggested by an existing damage model for polymeric materials (Lake-Thomas model). The results from the microscopic observations also showed a resembling influence of fiber configuration on the elasticity as suggested in polymer mechanics (affine network model). CONCLUSION: We showed that the fracture energy had a correlation with the elasticity in porcine small intestinal tissues, which was also suggested in polymer mechanics, thus being a promising avenue toward the ability to estimate the maximum applicable force onto a biological tissue without causing damage during surgery. Attention should also be pointed, however, towards investigating the extent at which polymer mechanics and biomechanics overlap.

A pilot study on an electromagnetic tracking system using tunneling magnetoresistance (TMR) sensors applicable to a 4F catheter (1.4 mm in diameter).

PURPOSE: Tracking the position and orientation of a 4F catheter ([Formula: see text] 1.4 mm) is required in superselective intra-arterial chemotherapy (SSIAC). Tunneling magnetoresistance (TMR) sensors, which measure magnetic fields, are promising candidates because the size of the TMR sensor can be less than a few tenths of a millimeter. The purpose of this paper is to prove the feasibility of an EMT system utilizing TMR sensors as magnetometers. METHODS: Three 1-axis TMR sensors (0.3 mm × 0.3 mm) were packaged on a flexible printed circuit board (PCB) together with an amplifier chip. The PCB was integrated into a 4F catheter. Six field generator coils driven by alternating current (AC) at different frequencies were used. Magnetic field measurement errors were evaluated to assess the effect of electromotive force (EMF) on TMR-based sensing by changing the coils' driving frequencies. The tracking error was also evaluated. As a result, the feasibility of catheter navigation utilizing the EMT system was demonstrated. RESULTS: There was a positive correlation between the frequency and the magnetic field measurement error using the TMR sensor (R2 = 0.999). With magnetic field frequencies less than 603 Hz, the average position and orientation estimation error were 10.1 mm and 2.3 degree, respectively. Under ideal conditions, the average estimation error values were 0.9 mm and 0.3 degree, respectively. CONCLUSION: The position and orientation errors varied with frequency owing to the induced electromotive force. We should consider the effect of electromotive force on TMR sensor assemblies caused by alternating magnetic fields. An EMT system using TMR sensors was validated, although room for further improvement was identified.

Development of a New Two-Arm Transurethral Surgical System for En Bloc Resection of Bladder Tumor: A Preclinical Study.

Backgrounds and Objectives: To overcome the piecemeal nature of bladder tumor resection, en bloc resection of bladder tumor (ERBT) has been introduced. ERBT is difficult for surgeons to perform using the currently available system because it has only one arm. Herein, we aimed to develop a new transurethral surgical system to facilitate two-arm ERBT and to report the results of preclinical experiments using tumor phantoms. Methods: Initially, we aimed to develop a brand-new surgical system for ERBT but, after trial and error, we redirected our development to the creation of three elements: the left arm to grasp the tumor; the right arm to cut the tumor; and the system to operate the arms that can be attached to the existing surgical system (UES-40 SurgMaster® [Olympus Co. Ltd., Tokyo, Japan]). The current system was evaluated by performing simulated ERBTs using tumor phantoms made from konjac jelly. Results: Following the assembly of developed arms into the UES-40 SurgMaster, we conducted preliminary ERBTs. After performing several resections, we adopted a basket-shaped forceps as the left arm instead of grasping forceps and an arched electrode as the right arm. The two arms and single endoscope were placed in an equilateral triangle. We performed ERBT for the tumor phantoms that ranged from 0.5 to 2.0 cm without major redo. Conclusion: Herein, we introduced our development for two-arm ERBT. The current concept of "two-hand transurethral surgery" has the potential to be developed in future in vivo and clinical trials.

Robust and fast laparoscopic vision-based ultrasound probe tracking using a binary dot array marker.

Laparoscopic vision-based ultrasound probe tracking systems have gained considerable attention in ultrasound-guided laparoscopic surgeries as replacements for external tracking systems (e.g. optical tracking and electromagnetic tracking systems), which increase cost and setting time, require additional operation space, and introduce new limitations. Most existing laparoscopic ultrasound (LUS) probe tracking systems rely on fiducial markers, which cannot easily realise fast and robust vision-based tracking in laparoscopic surgery owing to their design limitations. Therefore, we propose a novel binary dot array marker to realise a robust and fast LUS probe tracking system. The binary dot array marker comprises two dots (green and blue), which form multiple unique identification dot subarrays in the binary dot array. The binary dot array marker can be tracked when one of the identification dot subarrays is detected and identified; this novel design makes the binary dot array marker-based probe tracking system robust against occlusions during surgery. The evaluation results indicate that the proposed binary dot marker performs better in terms of robustness, computational efficiency, and tracking accuracy compared to the state-of-the-art fiducial markers used for vision-based probe tracking.

Machine-learning-based approach for predicting postoperative skeletal changes for orthognathic surgical planning.

BACKGROUND: Manually surgical planning becomes an increasing workload of surgeons because of the fast-growing patient population. This study introduced a machine-learning-based approach to assist surgical planning in orthognathic surgery. METHODS: Both preoperative and one-year-later postoperative computerised tomography images of 56 patients were collected. A 12-layers cascaded deep neural network structure with two successive models was proposed to yield an end-to-end solution, where the first model extracts landmarks from 2D patches of 3D volume and the second model predicts postoperative skeletal changes. RESULTS: The experimental results showed that the model obtained a prediction accuracy of 5.4 mm at the landmark level in 42.9 s. It also represented 74.4% of 3D regions at volume level when compared with the ground truth of human surgeons. CONCLUSIONS: This study demonstrated the feasibility of predicting postoperative skeletal changes for orthognathic surgical planning by using machine learning, showing great potential for reducing the workload of surgeons.

Folliculin haploinsufficiency causes cellular dysfunction of pleural mesothelial cells.

Birt-Hogg-Dubé syndrome (BHDS), an autosomal dominant inheritance disease caused by folliculin (FLCN) mutations, is associated with lung cysts and spontaneous pneumothorax. The possibility of FLCN haploinsufficiency in pleural mesothelial cells (PMCs) contributing to development of pneumothorax has not yet been clarified. Electron microscopy revealed exposed intercellular boundaries between PMCs on visceral pleura and decreased electron density around the adherens junctions in BHDS. To characterize cellular function of PMCs in BHDS patients (BHDS-PMCs), during surgery for pneumothorax, we established the flow cytometry-based methods of isolating high-purity PMCs from pleural lavage fluid. BHDS-PMCs showed impaired cell attachment and a significant decrease in proliferation and migration, but a significant increase in apoptosis compared with PMCs from primary spontaneous pneumothorax (PSP) patients (PSP-PMCs). Microarray analysis using isolated PMCs revealed a significant alteration in the expression of genes belonging to Gene Ontology terms "cell-cell adhesion junction" and "cell adhesion molecule binding". Gene set enrichment analysis demonstrated that CDH1, encoding E-cadherin, was identified in the down-regulated leading edge of a plot in BHDS-PMCs. AMPK and LKB1 activation were significantly impaired in BHDS-PMCs compared with PSP-PMCs. Our findings indicate that FLCN haploinsufficiency may affect the E-cadherin-LKB1-AMPK axis and lead to abnormal cellular function in BHDS-PMCs.

Isolation and characterisation of lymphatic endothelial cells from lung tissues affected by lymphangioleiomyomatosis.

Lymphangioleiomyomatosis (LAM) is a rare pulmonary disease characterised by the proliferation of smooth muscle-like cells (LAM cells), and an abundance of lymphatic vessels in LAM lesions. Studies reported that vascular endothelial growth factor-D (VEGF-D) secreted by LAM cells contributes to LAM-associated lymphangiogenesis, however, the precise mechanisms of lymphangiogenesis and characteristics of lymphatic endothelial cells (LECs) in LAM lesions have not yet been elucidated. In this study, human primary-cultured LECs were obtained both from LAM-affected lung tissues (LAM-LECs) and normal lung tissues (control LECs) using fluorescence-activated cell sorting (FACS). We found that LAM-LECs had significantly higher ability of proliferation and migration compared to control LECs. VEGF-D significantly promoted migration of LECs but not proliferation of LECs in vitro. cDNA microarray and FACS analysis revealed the expression of vascular endothelial growth factor receptor (VEGFR)-3 and integrin α9 were elevated in LAM-LECs. Inhibition of VEGFR-3 suppressed proliferation and migration of LECs, and blockade of integrin α9 reduced VEGF-D-induced migration of LECs. Our data uncovered the distinct features of LAM-associated LECs, increased proliferation and migration, which may be due to higher expression of VEGFR-3 and integrin α9. Furthermore, we also found VEGF-D/VEGFR-3 and VEGF-D/ integrin α9 signaling play an important role in LAM-associated lymphangiogenesis.

Uncommon radiologic computed tomography appearances of the chest in patients with lymphangioleiomyomatosis.

Lymphangioleiomyomatosis (LAM) is a rare destructive lung disease characterized by multiple thin-walled pulmonary cysts. The currently proposed diagnostic algorithm emphasizes the characteristic cystic appearance on high-resolution computed tomography (HRCT) so uncommon HRCT appearances present challenges to establishing the proper LAM diagnosis. The objective of this study is to accrue uncommon chest HRCT appearances, determine frequencies in both tuberous sclerosis complex (TSC)-associated LAM (TSC-LAM) and sporadic LAM (S-LAM) patients. 311 females referred to our hospital, including 272 S-LAM patients (mean age 39.2 years) and 39 TSC-LAM patients (mean age 38.3 years), were retrospectively evaluated. We found 2 types of radiologic findings likely to make HRCT cyst appearance atypical: characteristics of the cyst itself and uncommon findings in addition to cysts. We found that approximately 80% of LAM patients, whether TSC-associated or sporadic, showed typical HRCT appearance with mild to severe cystic destruction. The remaining 20% displayed unusual profiles in cyst appearance as well as additional findings aside from cyst: the former includes large cyst, thickened walls, and irregularly shaped whereas the latter includes ground glass attenuation and diffuse noncalcified nodules. It is important to be aware of various radiologic findings that make HRCT cystic appearance atypical of LAM.

Applicability of a single camera-based catheter navigation system using teeth arch as an anatomical landmark for superselective intraarterial infusion in advanced oral cancer treatment.

Superselective intraarterial infusion chemoradiotherapy is a modality of oral cancer therapy in which the artery feeding the tumor is catheterized. 3D information about the carotid artery is required to enable the surgeon to judge whether to advance, retract, or rotate the catheter. For this purpose, we proposed and conducted a model experiment to assess a new method of catheterization that applies a tracking system using registration with a monocular camera using the maxillary arch as the anatomical landmark. In this method, the preoperative 3D computer tomography angiographic image of the carotid artery that the catheter will be passed through is overlaid on the 2D video image. The mean TRE was 0.96 ± 0.36 mm and 0.88 ± 0.31 mm and 1.12 ± 0.46 mm when images were registered with the anterior and posterior teeth as the landmarks, respectively; the difference was not significant (p = 0.21). This tracking system that enables markerless registration simply by taking images of the maxillary anterior teeth with a single camera was convenient and effective for catheterization. In this study, we propose the new application of this tracking system and a novel method of catheterization for superselective intraarterial infusion chemoradiotherapy for oral cancer. In retrograde superselective intraarterial catheterization, a catheter is inserted into a tumor-feeding artery originating from the external carotid artery (ECA) (the lingual artery [LA], facial artery [FA], or maxillary artery [MA]). Because the maxillary dentition is located near the external carotid artery, we focused on real-time markerless registration using maxillary dentition fixed to the skull.

Deformation of the Pelvic Arteries Caused by Pneumoperitoneum and Postural Changes in an Animal Model.

BACKGROUND/AIM: We investigated pelvic arterial deformation and shift due to intraoperative pneumoperitoneum and postural changes in an animal model. MATERIALS AND METHODS: Computed tomography images of pigs were acquired in different body positions (supine, head down at 5° and 10°, right lateral recumbent at 5° and 15°) before and after insufflation. We used a free software (3D Slicer) for image analysis. After landmark registration using 10 markers inserted into the pelvis, pelvic arterial deformation and shift of seven arterial bifurcation points were evaluated. The distance moved was the target registration error (TRE) from the points registered in the supine position. Fiducial registration error (FRE) was measured using the 10 pelvic markers. RESULTS: TRE average from postural changes ranged from 0.7 to 1.2 mm and was 1.4 mm due to pneumoperitoneum. TRE and FRE averages were 2.1 mm and 0.2 mm, respectively. CONCLUSION: The pelvis was useful for registering anatomical landmarks.

Development of a Semiautomatic Dura Mater Suturing Device for Preventing Cerebrospinal Fluid Leakage in Transsphenoidal Surgery.

Dural suturing in transsphenoidal surgery requires well-honed technical skills. We have developed a semiautomatic dural suturing device and confirmed its effectiveness by comparing it with the conventional method. This device significantly shortens the suturing time compared with the conventional method. The dural suturing time in transsphenoidal surgery could be decreased significantly by use of this novel device.

Development and evaluation of a prototype detector for an intraoperative laparoscopic coincidence imaging system with PET tracers.

PURPOSE: Conventional positron emission tomography can be used only preoperatively to identify lymph node metastases, and hence, these growths are difficult to locate intraoperatively. Previously, an intraoperative laparoscopic coincidence imaging system, with an external fixed detector array and a detector probe that can be moved and inserted into the stomach, was proposed to identify lymph node metastases during stomach cancer surgery. This paper proposes a prototype detector for this system. METHODS: GAGG:Ce (Gd3Al2Ga3O12:Ce) scintillator crystals, one to one coupled with silicon photomultipliers (SiPMs), were used to identify 511 keV photons. An optical tracking system followed the position and orientation of the movable detector. SiPM outputs were read out by time-over-threshold (TOT)-based application-specific integrated circuits, which converted the electrical charges into digital pulses. To identify the arrival time, channel number, and pulse width, which indicate the energy information of each TOT output, a data acquisition system was developed based on a field-programmable gate array. RESULTS: The spatial resolution of the reconstructed images in lateral direction was better than 7 mm, but that of depth direction was limited, owing to inadequate projections. The prototype successfully reconstructed 44 kBq 18F-fluorodeoxyglucose sources during a 2-min scan. CONCLUSION: We developed a prototype detector for an intraoperative laparoscopic coincidence imaging system. The prototype detector was evaluated successfully, and the produced images were similar to those obtained in the simulation results, thereby suggesting that this method offers a new possibility of imaging lymph node metastases intraoperatively.

Surgical navigation system for laparoscopic lateral pelvic lymph node dissection in rectal cancer surgery using laparoscopic-vision-tracked ultrasonic imaging.

BACKGROUND: Laparoscopic lateral pelvic lymph node dissection (LPLND) in rectal cancer surgery requires considerable skill because the pelvic arteries, which need to be located to guide the dissection, are covered by other tissues and cannot be observed on laparoscopic views. Therefore, surgeons need to localize the pelvic arteries accurately before dissection, to prevent injury to these arteries. METHODS: This report proposes a surgical navigation system to facilitate artery localization in laparoscopic LPLND by combining ultrasonic imaging and laparoscopy. Specifically, free-hand laparoscopic ultrasound (LUS) is employed to capture the arteries intraoperatively in this approach, and a laparoscopic vision-based tracking system is utilized to track the LUS probe. To extract the artery contours from the two-dimensional ultrasound image sequences efficiently, an artery extraction framework based on local phase-based snakes was developed. After reconstructing the three-dimensional intraoperative artery model from ultrasound images, a high-resolution artery model segmented from preoperative computed tomography (CT) images was rigidly registered to the intraoperative artery model and overlaid onto the laparoscopic view to guide laparoscopic LPLND. RESULTS: Experiments were conducted to evaluate the performance of the vision-based tracking system, and the average reconstruction error of the proposed tracking system was found to be 2.4 mm. Then, the proposed navigation system was quantitatively evaluated on an artery phantom. The reconstruction time and average navigation error were 8 min and 2.3 mm, respectively. A navigation system was also successfully constructed to localize the pelvic arteries in laparoscopic and open surgeries of a swine. This demonstrated the feasibility of the proposed system in vivo. The construction times in the laparoscopic and open surgeries were 14 and 12 min, respectively. CONCLUSIONS: The experimental results showed that the proposed navigation system can guide laparoscopic LPLND and requires a significantly shorter setting time than the state-of-the-art navigation systems do.