ArticleMedical physics2021
CBCT-based navigation system for open liver surgery: Accurate guidance toward mobile and deformable targets with a semi-rigid organ approximation and electromagnetic tracking of the liver.
Article in Medical physics, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Who cites it
11 citing papers in PubMed.
- Review
- Navigated hepatic tumor resection using intraoperative ultrasound imaging.International journal of computer assisted radiology and surgery · 2026Article
- Resolving the Ambiguity of Complete-to-Partial Point Cloud Registration for Image-Guided Liver Surgery With Patches-to-Partial Matching.IEEE journal of biomedical and health informatics · 2026Article
- Electromagnetic Tracking System for Medical Micro Devices: A Review.Micromachines · 2025Review
- Vessel-based CTA-image to spatial anatomy registration using tracked catheter position data: preclinical evaluation of in vivo accuracy.European radiology experimental · 2024Article
- Smart Operating Room in Digestive Surgery: A Narrative Review.Healthcare (Basel, Switzerland) · 2024Review
- Ultrasound guidance in navigated liver surgery: toward deep-learning enhanced compensation of deformation and organ motion.International journal of computer assisted radiology and surgery · 2024Article
- Modern Image-Guided Surgery: A Narrative Review of Medical Image Processing and Visualization.Sensors (Basel, Switzerland) · 2023Review
- Ultrasound-based navigation for open liver surgery using active liver tracking.International journal of computer assisted radiology and surgery · 2022Article
- Measuring Respiratory Motion for Supporting the Minimally Invasive Destruction of Liver Tumors.Sensors (Basel, Switzerland) · 2022Article
- Current trends in three-dimensional visualization and real-time navigation as well as robot-assisted technologies in hepatobiliary surgery.World journal of gastrointestinal surgery · 2021Review
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Authors and funding
10 authors.
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Abstract
purposeThe surgical navigation system that provides guidance throughout the surgery can facilitate safer and more radical liver resections, but such a system should also be able to handle organ motion. This work investigates the accuracy of intraoperative surgical guidance during open liver resection, with a semi-rigid organ approximation and electromagnetic tracking of the target area.
methodsThe suggested navigation technique incorporates a preoperative 3D liver model based on diagnostic 4D MRI scan, intraoperative contrast-enhanced CBCT imaging and electromagnetic (EM) tracking of the liver surface, as well as surgical instruments, by means of six degrees-of-freedom micro-EM sensors.
resultsThe system was evaluated during surgeries with 35 patients and resulted in an accurate and intuitive real-time visualization of liver anatomy and tumor's location, confirmed by intraoperative checks on visible anatomical landmarks. Based on accuracy measurements verified by intraoperative CBCT, the system's average accuracy was 4.0 ± 3.0 mm, while the total surgical delay due to navigation stayed below 20 min.
conclusionsThe electromagnetic navigation system for open liver surgery developed in this work allows for accurate localization of liver lesions and critical anatomical structures surrounding the resection area, even when the liver was manipulated. However, further clinically integrating the method requires shortening the guidance-related surgical delay, which can be achieved by shifting to faster intraoperative imaging like ultrasound. Our approach is adaptable to navigation on other mobile and deformable organs, and therefore may benefit various clinical applications.
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