The influence of the da Vinci surgical robot on electromagnetic tracking in a clinical environment.

Robot-assisted surgery is increasingly used in surgery for cancer. Reduced overview and loss of anatomical orientation are challenges that might be solved with image-guided surgical navigation using electromagnetic tracking (EMT). However, the robot's presence may distort the electromagnetic field, affecting EMT accuracy. The aim of this study was to evaluate the robot's influence on EMT accuracy. For this purpose, two different electromagnetic field generators were used inside a clinical surgical environment: a table top field generator (TTFG) and a planar field generator (PFG). The position and orientation of sensors within the electromagnetic field were measured using an accurate in-house developed 3D board. Baseline accuracy was measured without the robot, followed by stepwise introduction of potential distortion sources (robot and robotic instruments). The absolute accuracy was determined within the entire 3D board and in the clinical working volume. For the baseline setup, median errors in the entire tracking volume within the 3D board were 0.9 mm and 0.3° (TTFG), and 1.1 mm and 0.4° (PFG). Adding the robot and instruments did not affect the TTFG's position accuracy (p = 0.60), while the PFG's accuracies decreased to 1.5 mm and 0.7° (p < 0.001). For both field generators, when adding robot and instruments, accuracies inside the clinical working volume were higher compared to the entire tracking 3D board volume, 0.7 mm and 0.3° (TTFG), and 1.1 mm and 0.7° (PFG). Introduction of a surgical robot and robotic instruments shows limited distortion of the EMT field, allowing sufficient accuracy for surgical navigation in robotic procedures.

Feasibility of tracked ultrasound registration for pelvic-abdominal tumor navigation: a patient study.

PURPOSE: Surgical navigation techniques can guide surgeons in localizing pelvic-abdominal malignancies. For abdominal navigation, accurate patient registration is crucial and is generally performed using an intra-operative cone-beam CT (CBCT). However, this method causes 15-min surgical preparation workflow interruption and radiation exposure, and more importantly, it cannot be repeated during surgery to compensate for large patient movement. As an alternative, the accuracy and feasibility of tracked ultrasound (US) registration are assessed in this patient study. METHODS: Patients scheduled for surgical navigation during laparotomy of pelvic-abdominal malignancies were prospectively included. In the operating room, two percutaneous tracked US scans of the pelvic bone were acquired: one in supine and one in Trendelenburg patient position. Postoperatively, the bone surface was semiautomatically segmented from US images and registered to the bone surface on the preoperative CT scan. The US registration accuracy was computed using the CBCT registration as a reference and acquisition times were compared. Additionally, both US measurements were compared to quantify the registration error caused by patient movement into Trendelenburg. RESULTS: In total, 18 patients were included and analyzed. US registration resulted in a mean surface registration error of 1.2 ± 0.2 mm and a mean target registration error of 3.3 ± 1.4 mm. US acquisitions were 4 × faster than the CBCT scans (two-sample t-test P < 0.05) and could even be performed during standard patient preparation before skin incision. Patient repositioning in Trendelenburg caused a mean target registration error of 7.7 ± 3.3 mm, mainly in cranial direction. CONCLUSION: US registration based on the pelvic bone is accurate, fast and feasible for surgical navigation. Further optimization of the bone segmentation algorithm will allow for real-time registration in the clinical workflow. In the end, this would allow intra-operative US registration to correct for large patient movement. TRIAL REGISTRATION: This study is registered in ClinicalTrials.gov (NCT05637359).

Respiratory level tracking with visual biofeedback for consistent breath-hold level with potential application in image-guided interventions.

BACKGROUND: To present and evaluate a new respiratory level biofeedback system that aids the patient to return to a consistent breath-hold level with potential application in image-guided interventions. METHODS: The study was approved by the local ethics committee and written informed consent was waived. Respiratory motion was recorded in eight healthy volunteers in the supine and prone positions, using a depth camera that measures the mean distance to thorax, abdomen and back. Volunteers were provided with real-time visual biofeedback on a screen, as a ball moving up and down with respiratory motion. For validation purposes, a conversion factor from mean distance (in mm) to relative lung volume (in mL) was determined using spirometry. Subsequently, without spirometry, volunteers were given breathing instructions and were asked to return to their initial breath-hold level at expiration ten times, in both positions, with and without visual biofeedback. For both positions, the median and interquartile range (IQR) of the absolute error in lung volume from initial breath-hold were determined with and without biofeedback and compared using Wilcoxon signed rank tests. RESULTS: Without visual biofeedback, the median difference from initial breath-hold was 124.6 mL (IQR 55.7-259.7 mL) for the supine position and 156.3 mL (IQR 90.9-334.7 mL) for the prone position. With the biofeedback, the difference was significantly decreased to 32.7 mL (IQR 12.8-59.6 mL) (p < 0.001) and 22.3 mL (IQR 7.7-47.0 mL) (p < 0.001), respectively. CONCLUSIONS: The use of a depth camera to provide visual biofeedback increased the reproducibility of breath-hold expiration level in healthy volunteers, with a potential to eliminate targeting errors caused by respiratory movement during lung image-guided procedures.

Complication rates of CT-guided transthoracic lung biopsy: meta-analysis.

OBJECTIVES: To meta-analyze complication rate in computed tomography (CT)-guided transthoracic lung biopsy and associated risk factors. METHODS: Four databases were searched from 1/2000 to 8/2015 for studies reporting complications in CT-guided lung biopsy. Overall and major complication rates were pooled and compared between core biopsy and fine needle aspiration (FNA) using the random-effects model. Risk factors for complications in core biopsy and FNA were identified in meta-regression analysis. RESULTS: For core biopsy, 32 articles (8,133 procedures) were included and for FNA, 17 (4,620 procedures). Pooled overall complication rates for core biopsy and FNA were 38.8 % (95 % CI: 34.3-43.5 %) and 24.0 % (95 % CI: 18.2-30.8 %), respectively. Major complication rates were 5.7 % (95 % CI: 4.4-7.4 %) and 4.4 % (95 % CI: 2.7-7.0 %), respectively. Overall complication rate was higher for core biopsy compared to FNA (p < 0.001). For FNA, larger needle diameter was a risk factor for overall complications, and increased traversed lung parenchyma and smaller lesion size were risk factors for major complications. For core biopsy, no significant risk factors were identified. CONCLUSIONS: In CT-guided lung biopsy, minor complications were common and occurred more often in core biopsy than FNA. Major complication rate was low. For FNA, smaller nodule diameter, larger needle diameter and increased traversed lung parenchyma were risk factors for complications. KEY POINTS: • Minor complications are common in CT-guided lung biopsy • Major complication rate is low in CT-guided lung biopsy • CT-guided lung biopsy complications occur more often in core biopsy than FNA • Major complication rate is similar in core biopsy and FNA • Risk factors for FNA are larger needle diameter, smaller lesion size.