Tracking and visualization of the sensing area for a tethered laparoscopic gamma probe

• DOI: 10.1007/s11548-020-02205-z
• Publication Date: 2020-06-17T09:02:46Z
• Authors: Baoru Huang; Ya-Yen Tsai; João Cartucho; Kunal Vyas; David Tuch; Stamatia Giannarou; Daniel S. Elson
• Keywords: Gamma probe; Tracking (education); Gamma camera

Abstract Purpose In surgical oncology, complete cancer resection and lymph node identification are challenging due to the lack of reliable intraoperative visualization. Recently, endoscopic radio-guided has been introduced where a novel tethered laparoscopic gamma detector can be used determine location tracer activity, which complement preoperative nuclear imaging data imaging. However, these probes do not clearly indicate on tissue surface activity originates, making localization pathological sites difficult increasing mental workload surgeons. Therefore, robust real-time probe tracking system integrated with augmented reality is proposed. Methods A dual-pattern marker attached probe, combines chessboard vertices circular dots for higher detection accuracy. Both patterns detected simultaneously based blob pixel intensity-based estimate pose probe. Temporal information incorporated into framework reduce failure. Furthermore, we utilized 3D point cloud generated from structure motion find intersection between axis surface. When presented as an image, this provide visual feedback Results The method validated ground truth using OptiTrack system. detecting orientation alone, mean error obtained $$0.05^{\circ }$$ <mml:math xmlns:mml="http://www.w3.org/1998/Math/MathML"> <mml:mrow> <mml:mn>0</mml:mn> <mml:mo>.</mml:mo> <mml:msup> <mml:mn>05</mml:mn> <mml:mo>∘</mml:mo> </mml:msup> </mml:mrow> </mml:math> $$0.06^{\circ <mml:mn>06</mml:mn> , respectively. As translation, each pattern 1.78 mm 1.81 mm. limits pitch, roll yaw $$360^{\circ }, 360^{\circ <mml:mn>360</mml:mn> <mml:mo>,</mml:mo> $$8^{\circ <mml:mn>8</mml:mn> – $$82^{\circ }\cup 188^{\circ <mml:mn>82</mml:mn> <mml:mo>∪</mml:mo> <mml:mn>188</mml:mn> $$352^{\circ <mml:mn>352</mml:mn> . Conclusion performance evaluation results show that high rates, well more accurate estimation larger workspace than previously proposed hybrid markers. will surgeons affected nodes or tumor.