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Augmented reality visualization for aiding biopsy procedure according to computed tomography based virtual plan

Majak Marcin, Żuk Magdalena, Świątek-Najwer Ewelina, Popek Michał, Pietruski Piotr

Acta of Bioengineering and Biomechanics

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2021

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Vol. 23, no. 2

81--89

EN

Purpose: The purpose of this study was to develop and verify an intraoperative module for supporting navigated biopsy procedures using optical see-through head-mounted display (HMD). Methods: Biopsy procedure including entry and endpoints of needle insertion was planned preoperatively having regard to the resection region segmentation and safety margin definition. Biopsy procedures were performed by two users using an intraoperative optical navigation module on a specially prepared brain phantom. Two visualization techniques were compared: an accurate augmented reality one, where a virtual plan is superimposed onto surgical field by using optical see-through HMD together with personalized calibration method and visualization on the external display. Results: Averaged errors from 24 trials using external display were 2.04 ± 0.83 mm for the first user and 2.69 ± 1.11 mm for the second one, while applying HMD 2.50 ± 0.93 mm (the first user) and 2.17 ± 0.82 mm (the second user), respectively. Conclusions: Proper usage of HMD visualization preceded by the personalized calibration allows the user to perform navigated biopsy procedure with comparable accuracy to its equivalent with the external display. Additionally, augmented reality visualization improves ergonomics and enables focusing on the surgical field without losing a direct line of sight with the field of view as it happens for external displays. However, ensuring high accuracy of augmented reality visualization still requires proper calibration and some user experience, which is challenging.

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Applications of decision trees to filtering and segmentation of breast cancer fine needle biopsy microscope images

Nieczkowski T., Obuchowicz A.

Biocybernetics and Biomedical Engineering

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2007

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Vol. 27, no. 4

59-70

EN

This paper provides a description of application of the regular decision tree at the pre-segmentation stage of the breast cancer fine needle biopsy microscope image analysis. The purpose the application is to improve results of segmentation, which is the next stage of the process. The proposed approach consists in the classification of image pixels based on their colour. The result is the image with pixels colour representing the probability of association to one of three classes: the nucleus, the intemucleus matter and the background. The enhancement is evaluated by applying the thresholding segmentation to the resultant image and comparing it with the results of the application of the similar process without the pre-segmentation stage.

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RoPuc: precise biopsy procedure with a robotic arm

Jaworski Łukasz, Kurnicki Adam

Medical Robotics Reports

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2021/2022

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vol. 10/11

74--76

PL

Wczesna diagnostyka zmian w tkankach ludzkich jest gwarantem skutecznego leczenia, w tym leczenia onkologicznego. Biopsja pod kontrolą CT umożliwia badanie tkanek dostępnych do tej pory głównie w trakcie otwartej biopsji chirurgicznej. Wymaga jednak wysokiej precyzji przy wprowadzaniu igły biopsyjnej oraz obarczona jest ryzykiem wielokrotnie powtarzanych skanów przy wprowadzeniu ręcznym. Operujące zdalnie precyzyjne urządzenia robotyczne stanowić mogą istotną alternatywę dla tradycyjnego podejścia. Autorzy prezentują w artykule wstępne rezultaty projektu prowadzonego w ramach grantu DIH-HERO, wykorzystującego technologię robotyczną ARIA/BATEO firmy ACCREA Engineering do zastosowania przy biopsji tkanek płuc, wątroby czy nerek.

EN

Early diagnosis of lesions in human tissue is a guarantee of effective treatment, including oncological treatment. CT-guided biopsy enables examination of tissues previously available mainly during open surgical biopsy. However, it requires high precision when inserting the biopsy needle and carries the risk of repeated scans when inserted manually. Remotely operated precise robotic devices may be an important alternative to the traditional approach. In this paper, the authors present the initial results of a project carried out under the DIH-HERO grant, using ACCREA Engineering's ARIA/BATEO robotic technology for lung, liver or kidney biopsy.