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Image Guided Navigation Utilizing Intra-operative 3D Surface Scanning to Mitigate Morphological Deformation of Surface Anatomy

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Abstract

Purpose

The purpose of this study is to navigate an in-house robot under uncertain intraoperative changes of the body surface which is not present in the pre-operative scan in hospital environments and lab environment.

Methods

The proposed methodology involves the use of a 3D scanner to form a 3D model. The method used in this study is cost effective and takes less time (about 5–7 min). We focused more on the surface anatomical positions of a patient, which may change after a pre-operative scan. With respect to this, we introduced a method to include these deformed regions in navigation, which are not present in pre-operative scans.

Results

By creating an on-spot 3D surface model of the cadaver’s and phantom’s head, and after registration processes we completed the surgical navigation process with an error (root-mean-square error) of 0.568 mm and 0.791 mm for phantom and cadaver respectively.

Conclusion

We showed the successful surgical navigation by using on-spot 3D surface modeling and including the deformity in our system. The accuracy of registration in lab condition and hospital condition was compared.

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Acknowledgements

The authors would like to acknowledge the support of the National University of Singapore given through the research project-Image Guided Navigation Using Real-Time 3D Surface Scanning. The authors would like to thank the entire team of National University Hospital, Singapore for their help in the clinical procedures.

Funding

This work is supported by National Key Research and Development Program, The Ministry of Science and Technology (MOST) of China (No. 2018YFB1307703), NUSRI China Jiangsu Provincial Grant BE2016077 awarded to Dr. Hongliang Ren.

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Authors and Affiliations

  1. Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore

    Avi Krishna Srivastava, Shradha Singhvi, Liang Qiu & Hongliang Ren

  2. Department of Sensors and Biomedical Technology, VIT University, Vellore, India

    Avi Krishna Srivastava & Shradha Singhvi

  3. Department of Neurosurgery, National Neuroscience Institute, Singapore, Singapore

    Nicolas Kon Kam King

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  1. Avi Krishna Srivastava
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  2. Shradha Singhvi
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  3. Liang Qiu
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  5. Hongliang Ren
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Correspondence to Hongliang Ren.

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The authors declare that they have no conflict of interest.

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This article does not contain any studies with human participants or animals performed by any of the authors.

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Srivastava, A.K., Singhvi, S., Qiu, L. et al. Image Guided Navigation Utilizing Intra-operative 3D Surface Scanning to Mitigate Morphological Deformation of Surface Anatomy. J. Med. Biol. Eng. 39, 932–943 (2019). https://doi.org/10.1007/s40846-019-00475-w

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  • DOI: https://doi.org/10.1007/s40846-019-00475-w

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