First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping

Fuerst B, Sprung J, Pinto F, Frisch B, Wendler T, Simon H, Mengus L, Van Den Berg NS, Van Der Poel HG, Van Leeuwen FWB, Navab N (2016)

Publication Type: Journal article

Publication year: 2016

Journal

IEEE Transactions on Medical Imaging Institute of Electrical and Electronics Engineers (IEEE)

Book Volume: 35

Pages Range: 830-838

Article Number: 7321051

Journal Issue: 3

DOI: 10.1109/TMI.2015.2498125

Abstract

In this paper we present the usage of a drop-in gamma probe for intra-operative Single-Photon Emission Computed Tomography (SPECT) imaging in the scope of minimally invasive robot-assisted interventions. The probe is designed to be inserted and reside inside the abdominal cavity during the intervention. It is grasped during the procedure using a robotic laparoscopic gripper enabling full six degrees of freedom handling by the surgeon. We demonstrate the first deployment of the tracked probe for intra-operative in-patient robotic SPECT enabling augmented-reality image guidance. The hybrid mechanical-and image-based in-patient probe tracking is shown to have an accuracy of 0.2 mm. The overall system performance is evaluated and tested with a phantom for gynecological sentinel lymph node interventions and compared to ground-truth data yielding a mean reconstruction accuracy of 0.67 mm.

Involved external institutions

Johns Hopkins University (JHU) US United States (USA) (US) Technische Universität München (TUM) DE Germany (DE) Eurorad FR France (FR) Leiden University NL Netherlands (NL) Antoni van Leeuwenhoek NL Netherlands (NL)

How to cite

APA:

Fuerst, B., Sprung, J., Pinto, F., Frisch, B., Wendler, T., Simon, H.,... Navab, N. (2016). First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping. IEEE Transactions on Medical Imaging, 35(3), 830-838. https://doi.org/10.1109/TMI.2015.2498125

MLA:

Fuerst, Bernhard, et al. "First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping." IEEE Transactions on Medical Imaging 35.3 (2016): 830-838.

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