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Surgical Navigation and Robotics Laboratory

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Figure 1: Ventriculoscopy navigation and simulation system.
Figure 1: Ventriculoscopy navigation and simulation system.
Figure 3: (a) GE Signa SP open-MRI scanner, with (b) integrated 5-DOF MR-compatible robot. The robot end-effector is equipped with an optical tracking marker (inset).
Figure 3: (a) GE Signa SP open-MRI scanner, with (b) integrated 5-DOF MR-compatible robot. The robot end-effector is equipped with an optical tracking marker (inset).
Figure 4: An illustration of target visualization and trajectory planning in an integrated visual display that incorporates co-registered multi-modal images and models.
Figure 4: An illustration of target visualization and trajectory planning in an integrated visual display that incorporates co-registered multi-modal images and models.
Figure 2: Patient layout and system configuration.
Figure 2: Patient layout and system configuration.
Figure 4: (a) Real-time image visualization in the Slicer interface during needle insertion; (b,c) MRI images of needle placement in the phantom; and (d) the target phantom.
Figure 4: (a) Real-time image visualization in the Slicer interface during needle insertion; (b,c) MRI images of needle placement in the phantom; and (d) the target phantom.
Figure 3: Artifacts with needles perpendicular to B0 , imaged with (a) SSFSE, and (b) FGRE, with needles immersed in a NiCl solution. Frequency-encoding directions both parallel and perpendicular to the needle shaft are shown. Dashed lines and crosses are actual needle shaft and tip, while dotted lines and circles indicate detected artifact.
Figure 3: Artifacts with needles perpendicular to B0 , imaged with (a) SSFSE, and (b) FGRE, with needles immersed in a NiCl solution. Frequency-encoding directions both parallel and perpendicular to the needle shaft are shown. Dashed lines and crosses are actual needle shaft and tip, while dotted lines and circles indicate detected artifact.
Figure 6: Preoperative 1.5T (left), intraoperative 0.5T (middle), and combined (right) T2W MR images. In the combined image, registered preoperative imaging is shown within the prostate, while in the surrounding area the intraoperative image is shown. Note that significant soft tissue deformation has occurred between scans.
Figure 6: Preoperative 1.5T (left), intraoperative 0.5T (middle), and combined (right) T2W MR images. In the combined image, registered preoperative imaging is shown within the prostate, while in the surrounding area the intraoperative image is shown. Note that significant soft tissue deformation has occurred between scans.
Figure 8: RCM control while the surgeon changing the needle insertion pathway. The end of the needle always points the virtual liver tumor site.
Figure 8: RCM control while the surgeon changing the needle insertion pathway. The end of the needle always points the virtual liver tumor site.
Figure 3: Optical Flow Estimation and Prediction. Left) Optical Flow vector information is overlaid on the iceball at time point t-1. Right) Predicted Ice ball Region using the vector information is overlaid the gray scale at t+1. The estimation of ice ball region looks pretty good.
Figure 3: Optical Flow Estimation and Prediction. Left) Optical Flow vector information is overlaid on the iceball at time point t-1. Right) Predicted Ice ball Region using the vector information is overlaid the gray scale at t+1. The estimation of ice ball region looks pretty good.
Figure 5: Nonrigid registration of prostate images from the same patient [7]. From left, preoperative 1.5 T scan (IA), intraoperative 0.5 T scan (IB) and the deformed the total gland in IA mapped to the shape of IB. The lower lines are extracted CG (gray) and PZ (white).
Figure 5: Nonrigid registration of prostate images from the same patient [7]. From left, preoperative 1.5 T scan (IA), intraoperative 0.5 T scan (IB) and the deformed the total gland in IA mapped to the shape of IB. The lower lines are extracted CG (gray) and PZ (white).
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