In this work, I examined, developed, and validated methods for intra-operative registration in minimally invasive kidney surgery. One of these methods uses a conoscopic laser that can be inserted through a small trocar port to scan the kidney and obtain a surface point cloud. To enable intra-operative feature tracking, a novel method for texture-mapping the conoscopic surface was developed using laparoscopic video. The feasibility and accuracy of this texture-mapping method was evaluated. In addition, a registration method using features tracked from the textured-mapped conoscopic surfaces was investigated for use in-vivo, under laparoscopic conditions in swine. The feasibility and accuracy of the registration method was investigated and shown to be promising.
Finally, to evaluate the need for non-rigid deformation correction in an image guidance system for the kidney, a preliminary study of non-rigid deformation in the kidney was performed. In this study, ex-vivo porcine kidneys were perfused, the renal vessels clamped, and an incision was made to simulate surgical conditions. The resulting deformation was measured, and the fiducial-tracked displacements were interpolated using a spline. The accuracy of this method was assessed, and the results show this method could be used with tracked features from intra-operative conoscopic scans to correct for non-rigid deformation.
| Identifer | oai:union.ndltd.org:VANDERBILT/oai:VANDERBILTETD:etd-04122012-000137 |
| Date | 21 April 2012 |
| Creators | Ong, Rowena E |
| Contributors | Robert J. Webster, III, Benoit Dawant, S. Duke Herrell, Michael I. Miga, Robert L. Galloway |
| Publisher | VANDERBILT |
| Source Sets | Vanderbilt University Theses |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.library.vanderbilt.edu/available/etd-04122012-000137/ |
| Rights | restricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Vanderbilt University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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