Real-time image guidance for robot-assisted laparoscopic surgery

点击翻译按钮获取中文摘要

Kidney cancer is the sixth most frequently diagnosed malignancy overall, and is responsible for 2.6% of cancer-related death in Canada. In 2007, 4,900 Canadians were diagnosed with kidney cancer and 1,650 succumbed to it. The most commonly recruited procedure for kidney cancer is laparoscopic radical nephrectomy, which involves removal of the entire kidney; however, an alternative to this is laparoscopic partial nephrectomy which allows removal of only the segment of kidney containing the tumour. Unfortunately, this is a technically challenging operation with the potential for serious complications. This procedure can be performed manually or with robotic assistance. Challenges remain in visualizing the critical anatomy hidden from the laparoscopy camera. The long-term objective of this research is to develop the technology to incorporate ultrasound imaging into robotic assisted laparoscopy for real-time guidance. In particular, this grant will develop novel techniques for the acquisition and analysis of ultrasound images to improve the accuracy, speed and success of robotic partial nephrectomies for cancer treatment. Direct benefits to patients include reduction of positive surgical margins, preservation of vital structures from injury and increased patient survival. The techniques will use multiple types of ultrasound images taken before and during surgery. Robotic laparoscopic surgery for nephrectomy is currently guided by a stereo camera system, so incorporation of ultrasound and computed tomography, along with key anatomical information, will provide enhanced guidance for the surgeon. This new approach will enable more accurate visualization of the locations of tumours, blood vessels, nerves and solid organs. The tools developed in this research will be applicable to other groups performing robotic laparoscopic surgery as well as standard laparoscopic surgery. Key research areas include image registration, elastography, data fusion and surgical user interfaces. Seven highly qualified personnel will be trained in these areas over the period of this project.