Three dimensional ultrasound guided percutaneous renal puncture: A phantom study

In this paper, we evaluate a proposed three dimensional ultrasound (3D US) guided navigation system for percutaneous renal puncture with an abdomen phantom. The system provides surgeons with intra-operative surgical navigation incorporating pre-operative needle trajectory planning. The intra-operative three dimensional ultrasound images are registered to the pre-operative magnetic resonance (MR) images, such that the pre-operative planning can be transferred to the operation room. The puncture is guided with an intuitive navigation interface to guarantee the accordance with the planning. Accuracy, efficiency and feasibility evaluations validate the proposed navigation system.