dc.creator | Ong, Rowena E | |
dc.date.accessioned | 2020-08-22T00:32:09Z | |
dc.date.available | 2014-04-21 | |
dc.date.issued | 2012-04-21 | |
dc.identifier.uri | https://etd.library.vanderbilt.edu/etd-04122012-000137 | |
dc.identifier.uri | http://hdl.handle.net/1803/12130 | |
dc.description.abstract | In this work, I examined, developed, and validated methods for intra-operative registration in minimally invasive kidney surgery. One of these methods uses a conoscopic laser that can be inserted through a small trocar port to scan the kidney and obtain a surface point cloud. To enable intra-operative feature tracking, a novel method for texture-mapping the conoscopic surface was developed using laparoscopic video. The feasibility and accuracy of this texture-mapping method was evaluated. In addition, a registration method using features tracked from the textured-mapped conoscopic surfaces was investigated for use in-vivo, under laparoscopic conditions in swine. The feasibility and accuracy of the registration method was investigated and shown to be promising.
Finally, to evaluate the need for non-rigid deformation correction in an image guidance system for the kidney, a preliminary study of non-rigid deformation in the kidney was performed. In this study, ex-vivo porcine kidneys were perfused, the renal vessels clamped, and an incision was made to simulate surgical conditions. The resulting deformation was measured, and the fiducial-tracked displacements were interpolated using a spline. The accuracy of this method was assessed, and the results show this method could be used with tracked features from intra-operative conoscopic scans to correct for non-rigid deformation. | |
dc.format.mimetype | application/pdf | |
dc.subject | laser range scanning | |
dc.subject | minimally invasive surgery | |
dc.subject | registration | |
dc.subject | nephrectomy | |
dc.subject | Surgical navigation | |
dc.title | Intra-operative Registration Methods for Image-Guided Kidney Surgery | |
dc.type | dissertation | |
dc.contributor.committeeMember | Robert J. Webster, III | |
dc.contributor.committeeMember | Benoit Dawant | |
dc.contributor.committeeMember | S. Duke Herrell | |
dc.contributor.committeeMember | Michael I. Miga | |
dc.type.material | text | |
thesis.degree.name | PHD | |
thesis.degree.level | dissertation | |
thesis.degree.discipline | Biomedical Engineering | |
thesis.degree.grantor | Vanderbilt University | |
local.embargo.terms | 2014-04-21 | |
local.embargo.lift | 2014-04-21 | |
dc.contributor.committeeChair | Robert L. Galloway | |