Surgical Planning Laboratory - Brigham & Women's Hospital - Boston, Massachusetts USA - a teaching affiliate of Harvard Medical School

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Design and Development of a Mobile Image Overlay System for Needle Interventions

1Laboratory for Percutaneous surgery (Perk Lab), Queen's University, Kingston, ON, Canada.
2Surgical Planning Laboratory, Brigham and Women´s Hospital and Harvard Medical School, Boston, MA, USA.
EMBS 2014
Publication Date:
Conf Proc IEEE Eng Med Biol Soc
Volume Number:
Conf Proc IEEE Eng Med Biol Soc. 2014 Aug;2014:6159-62.
PubMed ID:
Appears in Collections:
P41 EB015898/EB/NIBIB NIH HHS/United States
P41 RR019703/RR/NCRR NIH HHS/United States
R01 CA118371/CA/NCI NIH HHS/United States
Generated Citation:
Anand M., King F., Ungi T., Lasso A., Rudan J., Jayender J., Fritz J., Carrino J.A., Jolesz F.A., Fichtinger G. Design and Development of a Mobile Image Overlay System for Needle Interventions. Conf Proc IEEE Eng Med Biol Soc. 2014 Aug;2014:6159-62. PMID: 25571403. PMCID: PMC4437519.
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Previously, a static and adjustable image overlay systems were proposed for aiding needle interventions. The system was either fixed to a scanner or mounted over a large articulated counterbalanced arm. Certain drawbacks associated with these systems limited the clinical translation. In order to minimize these limitations, we present the mobile image overlay system with the objective of reduced system weight, smaller dimension, and increased tracking accuracy. The design study includes optimal workspace definition, selection of display device, mirror, and laser source. The laser plane alignment, phantom design, image overlay plane calibration, and system accuracy validation methods are discussed. The virtual image is generated by a tablet device and projected into the patient by using a beamsplitter mirror. The viewbox weight (1.0kg) was reduced by 8.2 times and image overlay plane tracking precision (0.21mm, STD=0.05) was improved by 5 times compared to previous system. The automatic self-calibration of the image overlay plane was achieved in two simple steps and can be done away from patient table. The fiducial registration error of the physical phantom to scanned image volume registration was 1.35mm (STD=0.11). The reduced system weight and increased accuracy of optical tracking should enable the system to be hand held by the physician and explore the image volume over the patient for needle interventions.

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