Jan Bergmeier1, J Michael Fitzpatrick2, Dorothea Daentzer3, Omid Majdani4, Tobias Ortmaier5, Lüder A Kahrs5. 1. Institute of Mechatronic Systems, Leibniz Universität Hannover, Hannover, Germany. jan.bergmeier@imes.uni-hannover.de. 2. Department of Electrical Engineering and Computer Science, Vanderbilt University, Nashville, Tennessee, USA. 3. Department of Orthopedics, Hannover Medical School, DIAKOVERE Annastift, Hannover, Germany. 4. Department of Otolaryngology, Head and Neck Surgery, Hannover Medical School, Hannover, Germany. 5. Institute of Mechatronic Systems, Leibniz Universität Hannover, Hannover, Germany.
Abstract
PURPOSE: Mastoid cells as well as trabecula provide unique bone structures, which can serve as natural landmarks for registration. Preoperative imaging enables sufficient acquisition of these structures, but registration requires an intraoperative counterpart. Since versatile surgical interventions involve drilling into mastoid cells and trabecula, we propose a registration method based on endoscopy inside of these drill holes. METHODS: Recording of the surface of the inner drill hole yields bone-air patterns that provide intraoperative registration features. In this contribution, we discuss an approach that unrolls the drill hole surface into a two-dimensional image. Intraoperative endoscopic recordings are compared to simulated endoscopic views, which originate from preoperative data like computed tomography. Each simulated view corresponds to a different drill pose. The whole registration procedure and workflow is demonstrated, using high-resolution image data to simulate both preoperative and endoscopic image data. RESULTS: As the driving application is minimally invasive cochlear implantation, in which targets are close to the axis of the drill hole, Target Registration Error (TRE) was measured at points near the axis. TRE at increasing depths along the drill trajectory reveals increasing registration accuracy as more bone-air patterns become available as landmarks with the highest accuracy obtained at the center point. At the facial recess and the cochlea, TREs are ([Formula: see text]) mm and ([Formula: see text]) mm, respectively. CONCLUSION: This contribution demonstrates a new method for registration via endoscopic acquisition of small features like trabecula or mastoid cells for image-guided procedures. It has the potential to revolutionize bone registration because it requires only a preoperative dataset and intraoperative endoscopic exploration. Endoscopic recordings of at least 20 mm length and isotropic voxel sizes of 0.2 mm or smaller of the preoperative image data are recommended.
PURPOSE: Mastoid cells as well as trabecula provide unique bone structures, which can serve as natural landmarks for registration. Preoperative imaging enables sufficient acquisition of these structures, but registration requires an intraoperative counterpart. Since versatile surgical interventions involve drilling into mastoid cells and trabecula, we propose a registration method based on endoscopy inside of these drill holes. METHODS: Recording of the surface of the inner drill hole yields bone-air patterns that provide intraoperative registration features. In this contribution, we discuss an approach that unrolls the drill hole surface into a two-dimensional image. Intraoperative endoscopic recordings are compared to simulated endoscopic views, which originate from preoperative data like computed tomography. Each simulated view corresponds to a different drill pose. The whole registration procedure and workflow is demonstrated, using high-resolution image data to simulate both preoperative and endoscopic image data. RESULTS: As the driving application is minimally invasive cochlear implantation, in which targets are close to the axis of the drill hole, Target Registration Error (TRE) was measured at points near the axis. TRE at increasing depths along the drill trajectory reveals increasing registration accuracy as more bone-air patterns become available as landmarks with the highest accuracy obtained at the center point. At the facial recess and the cochlea, TREs are ([Formula: see text]) mm and ([Formula: see text]) mm, respectively. CONCLUSION: This contribution demonstrates a new method for registration via endoscopic acquisition of small features like trabecula or mastoid cells for image-guided procedures. It has the potential to revolutionize bone registration because it requires only a preoperative dataset and intraoperative endoscopic exploration. Endoscopic recordings of at least 20 mm length and isotropic voxel sizes of 0.2 mm or smaller of the preoperative image data are recommended.
Entities:
Keywords:
Bone drilling; Endoscope; Mastoid; Spongious bone; Temporal bone; Trabecula
Authors: David Mattes; David R Haynor; Hubert Vesselle; Thomas K Lewellen; William Eubank Journal: IEEE Trans Med Imaging Date: 2003-01 Impact factor: 10.048
Authors: Janet Blumenfeld; Julio Carballido-Gamio; Roland Krug; Daniel J Blezek; Ileana Hancu; Sharmila Majumdar Journal: Ann Biomed Eng Date: 2007-08-17 Impact factor: 3.934
Authors: Nicolas Gerber; Brett Bell; Kate Gavaghan; Christian Weisstanner; Marco Caversaccio; Stefan Weber Journal: Int J Comput Assist Radiol Surg Date: 2013-06-14 Impact factor: 2.924
Authors: L Maier-Hein; P Mountney; A Bartoli; H Elhawary; D Elson; A Groch; A Kolb; M Rodrigues; J Sorger; S Speidel; D Stoyanov Journal: Med Image Anal Date: 2013-05-03 Impact factor: 8.545
Authors: Omid Majdani; Thomas S Rau; Stephan Baron; Hubertus Eilers; Claas Baier; Bodo Heimann; Tobias Ortmaier; Sönke Bartling; Thomas Lenarz; Martin Leinung Journal: Int J Comput Assist Radiol Surg Date: 2009-06-13 Impact factor: 2.924