Development and clinical application of surgical navigation system for laparoscopic hepatectomy

This paper describes a surgical navigation system for laparoscopic surgery and its application to laparoscopic hepatectomy. The proposed surgical navigation system presents virtual laparoscopic views using a 3D positional tracker and preoperative CT images. We use an electromagnetic tracker for obtaining positional information of a laparoscope and a forceps. The point-pair matching registration method is performed for aligning coordinate systems between the 3D positional tracker and the CT images. Virtual laparoscopic views corresponding to the laparoscope position are generated from the obtained positional information, the registration results, and the CT images using a volume rendering method. We performed surgical navigation using the proposed system during laparoscopic hepatectomy for fourteen cases. The proposed system could generate virtual laparoscopic views in synchronization with the laparoscope position during surgery.

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