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Automatisierungstechnik. 01/2010; 58:251-259.
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ABSTRACT: Coronary artery bypass grafting (CABG) is the standard treatment for advanced coronary artery diseases. In a preoperative MSCT, both wall plaque formations and resulting optimal anastomotic site are visible to the surgeon. During surgery, the identification of this position on the surface of the heart is of utmost importance for an effective revascularisation procedure. To assist the surgeon in this matter, a surgical navigation system for the open heart is desirable. This work focusses on an appropriate method for registration of a patient-specific map of the coronaries extracted from preoperative MSCT data with optical tracking data recorded intraoperatively at the ischaemic heart.
The proposed registration process is based on mutually shared anatomical point landmarks and vessel paths on the heart surface utilised in an enhanced weighted ICP algorithm. Bypass grafting predominantly takes place at the ischaemic heart which is significantly distorted compared to its preoperative shape. To account for that, the method includes corrections for the effects of muscle relaxation and torsion of the ischaemic heart.
The registration process was tested retrospectively on real patient data recorded at the ischaemic heart during bypass grafting. After registration, the vessel paths and point landmarks recorded intraoperatively by the surgeon showed good accordance with the preoperative map of the coronaries.
The registration method presented here is capable of matching the relevant parts of a preoperatively extracted map of the coronaries with intraoperatively recorded optical tracking data. Thus, it can be used as a basis for a surgical navigation system intended to assist the surgeon in the localisation of the optimal anastomotic site during CABG.
International Journal of Computer Assisted Radiology and Surgery 03/2009; 4(2):105-12. · 1.48 Impact Factor
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Bildverarbeitung für die Medizin 2009: Algorithmen - Systeme - Anwendungen, Proceedings des Workshops vom 22. bis 25. März 2009 in Heidelberg; 01/2009
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Bildverarbeitung für die Medizin 2009: Algorithmen - Systeme - Anwendungen, Proceedings des Workshops vom 22. bis 25. März 2009 in Heidelberg; 01/2009
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Functional Imaging and Modeling of the Heart, 5th International Conference, FIMH 2009, Nice, France, June 3-5, 2009. Proceedings; 01/2009
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Int. J. Computer Assisted Radiology and Surgery. 01/2008; 3:505-510.
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ABSTRACT: Coronary artery bypass grafting (CABG) is the most commonly performed type of open heart surgery. For an ef-fective revascularisation procedure, the identification of the optimal anastomotic site is of utmost importance. To assist the surgeon in this matter, a surgical navigation system for the open heart is desirable. During surgery, its purpose is to provide a patient-specific map of the coronaries in which the current position of a surgical pointing device (Cardio-Pointer) is visualised. To enable navigation on the heart surface, registration of pre-and intraop-erative modalities is required. This work focusses on an appropriate method for registration of the 3D map of the coronaries extracted from preoperative MSCT (multi-slice computed tomography) data with optical tracking data recorded intraoperatively at the ischaemic heart. The registration algorithm is based on mutually shared anatomical point landmarks and vessel paths on the surface of the heart. Depending on the number and type of landmarks visible both in the MSCT images and during surgery on the surface of the heart itself, the method consists of up to four successive steps. This includes a rigid, coarse registration followed by an enhanced weighted ICP algorithm, corrections for the effects of muscle relaxation and torsion of the non-beating heart, and if suitable the generation of additional landmark points by means of vessel length calculations. The registration process has been validated retrospectively on real patient data sets recorded during CABG surgery.
