Accuracy of Touch-Based Registration during Robotic Image-Guided Partial Nephrectomy before and after Tumor Resection in Validated Phantoms

Nicholas L. Kavoussi, Bryn Pitt, James M. Ferguson, Josephine Granna, Andria Remirez, Naren Nimmagadda, Rachel Melnyk, Ahmed Ghazi, Eric J. Barth, Robert J. Webster, Stanley Duke Herrell

Research output: Contribution to journalArticlepeer-review

Abstract

Aim: Image-guided surgery (IGS) allows for accurate, real-time localization of subsurface critical structures during surgery. No prior IGS systems have described a feasible method of intraoperative reregistration after manipulation of the kidney during robotic partial nephrectomy (PN). We present a method for seamless reregistration during IGS and evaluate accuracy before and after tumor resection in two validated kidney phantoms. Materials and Methods: We performed robotic PN on two validated kidney phantoms - one with an endophytic tumor and one with an exophytic tumor - with our IGS system utilizing the da Vinci Xi robot. Intraoperatively, the kidney phantoms' surfaces were digitized with the da Vinci robotic manipulator via a touch-based method and registered to a three-dimensional segmented model created from cross-sectional CT imaging of the phantoms. Fiducial points were marked with a surgical marking pen and identified after the initial registration using the robotic manipulator. Segmented images were displayed via picture-in-picture in the surgeon console as tumor resection was performed. After resection, reregistration was performed by reidentifying the fiducial points. The accuracy of the initial registration and reregistration was compared. Results: The root mean square (RMS) averages of target registration error (TRE) were 2.53 and 4.88 mm for the endophytic and exophytic phantoms, respectively. IGS enabled resection along preplanned contours. Specifically, the RMS averages of the normal TRE over the entire resection surface were 0.75 and 2.15 mm for the endophytic and exophytic phantoms, respectively. Both tumors were resected with grossly negative margins. Point-based reregistration enabled instantaneous reregistration with minimal impact on RMS TRE compared with the initial registration (from 1.34 to 1.70 mm preresection and from 1.60 to 2.10 mm postresection). Conclusions: We present a novel and accurate registration and reregistration framework for use during IGS for PN with the da Vinci Xi surgical system. The technology is easily integrated into the surgical workflow and does not require additional hardware.

Original languageEnglish (US)
Pages (from-to)362-368
Number of pages7
JournalJournal of Endourology
Volume35
Issue number3
DOIs
StatePublished - Mar 2021
Externally publishedYes

Keywords

  • image-guided surgery
  • kidney cancer
  • robotics

ASJC Scopus subject areas

  • Urology

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