Image-guided ex-vivo targeting accuracy using a laparoscopic tissue localization system

Jerry Bieszczad, Eric Friets, Darin Knaus, Thomas Rauth, Alan Herline, Michael Miga, Robert Galloway, David Kynor

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In image-guided surgery, discrete fiducials are used to determine a spatial registration between the location of surgical tools in the operating theater and the location of targeted subsurface lesions and critical anatomic features depicted in preoperative tomographic image data. However, the lack of readily localized anatomic landmarks has greatly hindered the use of image-guided surgery in minimally invasive abdominal procedures. To address these needs, we have previously described a laser-based system for localization of internal surface anatomy using conventional laparoscopes. During a procedure, this system generates a digitized, three-dimensional representation of visible anatomic surfaces in the abdominal cavity. This paper presents the results of an experiment utilizing an ex-vivo bovine liver to assess subsurface targeting accuracy achieved using our system. During the experiment, several radiopaque targets were inserted into the liver parenchyma. The location of each target was recorded using an optically-tracked insertion probe. The liver surface was digitized using our system, and registered with the liver surface extracted from post-procedure CT images. This surface-based registration was then used to transform the position of the inserted targets into the CT image volume. The target registration error (TRE) achieved using our surface-based registration (given a suitable registration algorithm initialization) was 2.4 mm ± 1.0 mm. A comparable TRE (2.6 mm ± 1.7 mm) was obtained using a registration based on traditional fiducial markers placed on the surface of the same liver. These results indicate the potential of fiducial-free, surface-to-surface registration for image-guided lesion targeting in minimally invasive abdominal surgery.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2007
Subtitle of host publicationVisualization and Image-Guided Procedures
EditionPART 1
StatePublished - 2007
Externally publishedYes
EventMedical Imaging 2007: Visualization and Image-Guided Procedures - San Diego, CA, United States
Duration: Feb 18 2007Feb 20 2007

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
NumberPART 1
ISSN (Print)1605-7422


OtherMedical Imaging 2007: Visualization and Image-Guided Procedures
Country/TerritoryUnited States
CitySan Diego, CA


  • Abdominal procedures
  • Image-guided therapy
  • Localization
  • Minimally invasive surgery
  • Registration

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Atomic and Molecular Physics, and Optics
  • Biomaterials
  • Radiology Nuclear Medicine and imaging


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