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Surgical Navigation and Robotics Laboratory

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Figure 2: a,b. In the checkerboard display between the preoperative image (before deformation) and intraoperative image, a black line indicates a contour of the total gland, whereas a white line indicates a contour of the central gland. a: The contours showed discrepancy at white arrows. b: In a checkerboard display between deformed preoperative and intraoperative images, the contours match closely after registration has been performed. A slight discrepancy remained at the posterior part of the prostate (black arrow).
Figure 2: a,b. In the checkerboard display between the preoperative image (before deformation) and intraoperative image, a black line indicates a contour of the total gland, whereas a white line indicates a contour of the central gland. a: The contours showed discrepancy at white arrows. b: In a checkerboard display between deformed preoperative and intraoperative images, the contours match closely after registration has been performed. A slight discrepancy remained at the posterior part of the prostate (black arrow).
Figure 4: Setting of a target point by the navigation software. (A) The tumor volume (yellow) is almost covered by the blue footprints (already ablated area). (B) The new targeting point (shown as a red ball) was moved and adjusted to the residual yellow area in (A). (C) When the new position is set in this software, the manipulator immediately moves to set its sight on the next targeting point.
Figure 4: Setting of a target point by the navigation software. (A) The tumor volume (yellow) is almost covered by the blue footprints (already ablated area). (B) The new targeting point (shown as a red ball) was moved and adjusted to the residual yellow area in (A). (C) When the new position is set in this software, the manipulator immediately moves to set its sight on the next targeting point.
Figure 1: Magnified view of the septal wall with the VIBGYOR color map representing the Global Isotropy Index (GII) at various locations. Red represents points with low GII while blue represents points with high GII.
Figure 1: Magnified view of the septal wall with the VIBGYOR color map representing the Global Isotropy Index (GII) at various locations. Red represents points with low GII while blue represents points with high GII.
Figure 2: (a) Pre-procedure contrast enhanced MR image, (b) CT image for interventional planning, (c) registered and fused image showing liver from MR image overlaid on CT image, (d) CT image showing ablation probes overlaid with segmented tumor from the registered MR image, (e) CT image showing iceball (hypointense area around lesion) overlaid with segmented lesion (green) from registered MR image, and (f) 3D representation of liver (red), tumor (green), iceball (blue) and cryoprobes to evaluate tumor coverage and margins.
Figure 2: (a) Pre-procedure contrast enhanced MR image, (b) CT image for interventional planning, (c) registered and fused image showing liver from MR image overlaid on CT image, (d) CT image showing ablation probes overlaid with segmented tumor from the registered MR image, (e) CT image showing iceball (hypointense area around lesion) overlaid with segmented lesion (green) from registered MR image, and (f) 3D representation of liver (red), tumor (green), iceball (blue) and cryoprobes to evaluate tumor coverage and margins.
Figure 6: Overview (left) and system diagram (right) of VectorVision -3D Slicer integration in the operating room. VectorVision provides basic navigation features, including tool tracking and image display, while 3D Slicer provides advanced image processing. The surgeons can check both the VectorVision console and the 3D Slicer user interface on dedicated displays during surgery.
Figure 6: Overview (left) and system diagram (right) of VectorVision -3D Slicer integration in the operating room. VectorVision provides basic navigation features, including tool tracking and image display, while 3D Slicer provides advanced image processing. The surgeons can check both the VectorVision console and the 3D Slicer user interface on dedicated displays during surgery.
Figure 5: Immediately after ablation therapy, MRI was performed again for evaluation of the ablated area. Red: tumor, green: ablated area.
Figure 5: Immediately after ablation therapy, MRI was performed again for evaluation of the ablated area. Red: tumor, green: ablated area.
Figure 4: US calibration setup with (a) Aurora electromagnetic tracking system, and (b) MicronTracker2 optical tracking system.
Figure 4: US calibration setup with (a) Aurora electromagnetic tracking system, and (b) MicronTracker2 optical tracking system.
Figure: The IGT prostate therapy planning tutorial in progress.
Figure: The IGT prostate therapy planning tutorial in progress.
Figure 1: A 128-channel receiver coil with 60 coil elements on the front side (left) and 68 on the back side (right) was used for imaging. All the coil elements have a diameter of 75 mm and are arranged in a continuous array of hexagonal symmetry to minimize next-neighbor coupling.
Figure 1: A 128-channel receiver coil with 60 coil elements on the front side (left) and 68 on the back side (right) was used for imaging. All the coil elements have a diameter of 75 mm and are arranged in a continuous array of hexagonal symmetry to minimize next-neighbor coupling.
Figure 6: Phantom experiments. (Left) CT slice view of phantom with foam block; (middle) experimental set-up; (right) machined foam block
Figure 6: Phantom experiments. (Left) CT slice view of phantom with foam block; (middle) experimental set-up; (right) machined foam block
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