Dumpuri P.,Vanderbilt University |
Clements L.W.,Pathfinder Therapeutics Inc. |
Dawant B.M.,Vanderbilt University |
Miga M.I.,Vanderbilt University
Progress in Biophysics and Molecular Biology
The current protocol for image guidance in open abdominal liver tumor removal surgeries involves a rigid registration between the patient's operating room space and the pre-operative diagnostic image-space. Systematic studies have shown that the liver can deform up to 2. cm during surgeries in a non-rigid fashion thereby compromising the accuracy of these surgical navigation systems. Compensating for intra-operative deformations using mathematical models has shown promising results. In this work, we follow up the initial rigid registration with a computational approach that is geared towards minimizing the residual closest point distances between the un-deformed pre-operative surface and the rigidly registered intra-operative surface. We also use a surface Laplacian equation based filter that generates a realistic deformation field. Preliminary validation of the proposed computational framework was performed using phantom experiments and clinical trials. The proposed framework improved the rigid registration errors for the phantom experiments on average by 43%, and 74% using partial and full surface data, respectively. With respect to clinical data, it improved the closest point residual error associated with rigid registration by 54% on average for the clinical cases. These results are highly encouraging and suggest that computational models can be used to increase the accuracy of image-guided open abdominal liver tumor removal surgeries. © 2009. Source
Agency: Department of Health and Human Services | Branch: | Program: SBIR | Phase: Phase II | Award Amount: 1.38M | Year: 2006
DESCRIPTION (provided by applicant): One of the important developments in disease treatment over the past decade has been the development of image-guided procedures. The rise of such systems has also been associated with a contraction of the market with a few companies becoming the dominant players in the field. In such a contracted commercial state, the field does not rapidly expand but rather has to wait for the large corporations see enough potential profit in new applications to innovate. One of the barriers to new innovation is the complexity of the imageguided procedure task, requiring understanding of three dimensional tracking systems, image to physical space registration techniques, display methodologies, graphic techniques, data IO and methods of using intraoperative data to correct preoperative assumptions or to deal with temporal changes. In this proposal we propose to create an open architecture/closed source system for image-guide procedures. Such a system would allow organizations, technology companies and other more agile innovators to prototype new systems without having to expend considerable effort outside of their expertise. It would also provide a common platform allowing consortia of organizations (academic, research and commercial) to coalesce on new applications bringing new therapeutic techniques to the market more quickly.
Agency: Department of Health and Human Services | Branch: | Program: SBIR | Phase: Phase I | Award Amount: 149.10K | Year: 2006
DESCRIPTION (provided by applicant): For the past eight years, an image-guided liver surgery system has been developed by engineers and clinicians at several academic institutions, including Vanderbilt University and Washington University in St. Louis. In mid-2004, after initial investigations demonstrated that the system could be used in a clinical setting to more effectively treat liver cancer, Pathfinder Therapeutics, Inc. was founded as a medical device corporation to develop commercial, integrated systems for use in image-guided therapy. The primary focus of the company at this time is to take the image-guided liver surgery technology developed in the academic environment and translate it to a commercial setting where it can be specifically used to perform more efficient, accurate procedures and improve patient outcomes. Since its use in neurosurgery over ten years ago, there have always been divergent views of whether image-guided surgery has a place in a particular surgical field until the technology is proven to be effective. In order to successfully market and develop a profitable image-guided liver surgery product, we must convince surgeons that this should be the standard of care in treating several forms of liver cancer. The Phase I portion of this fast-track SBIR details the technical steps that must be completed to create a commercial-quality prototype system that can be replicated for distribution and used in an efficacy clinical trial. The clinical trial detailed in the Phase II portion will demonstrate the utility and effectiveness of image-guidance in treating liver cancer. Our trial will focus on demonstrating improvement in several factors that lead to hepatic failure, including increased residual functional liver volume following tumor resection and decreased patient time spent in the operating room. Through this investigation, we will show that image-guided liver surgery should be the standard of care for liver resection procedures. This claim will allow us to successfully commercialize image-guided liver surgery.
Pathfinder Therapeutics Inc. | Date: 2012-09-21
An ultrasound tracking adapter assembly that attaches to an ultrasound transducer in a repeatable, rigid, and tool-less manner. When used with a tracked body, the position of the tracking technology devices and the ultrasound transducer is fixed, so intraoperative calibration is not necessary. This permits a 3D guidance system and 2D ultrasound to be used together. The adapter provides a secure, rigid hold between the ultrasound transducer body and the clamping body. The ultrasound probe clamp assembly is attached to specific probe instruments used in the operating room that are to be tracked using 3D positioning technology.
Pathfinder Therapeutics Inc. | Date: 2013-03-06
Systems, apparatus and methods for localizing and/or determining the relative position of surgical instruments during a surgical procedure are disclosed. A method includes capturing an image depicting at least a portion of a first surgical instrument disposed at a first position with respect to a target tissue, and at least a portion of a second surgical instrument disposed at a second position with respect to the target tissue, the second position different from the first position. The method includes transforming the image to a three-dimensional model so the first position of the portion of the first surgical instrument is rendered with the three-dimensional model, and the second position of the portion of the second surgical instrument is rendered with the three-dimensional model. The method includes calculating distance between the portion of the first surgical instrument and the portion of the second surgical instrument based on the three dimensional model.