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Méthodes de Recalage Scanner/Echographie.Application à la Navigation Chirurgicale des Ponctions Rénales Percutanées

Antoine Leroy 1
1 TIMC-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
Abstract : Percutaneous renal puncture is a common urologic procedure preliminary to stone ablation. The reduced size of renal cavities, the proximity of noble structures, as well as the limited information conveyed by interventional imaging devices, make the insertion of the puncture needle more complex. In collaboration with the urologists of Pitié Salpêtrière hospital, we have studied the feasibility of a computer-assisted puncture system. Our study was twofold. On the one hand, a protocol based on the planning/registration/guidance flowchart was validated. It relies on the manual segmentation of pre-operative CT images and intra-operative US images, and on a 3D/3D point matching algorithm. On the other hand, and afterwards, a new registration method avoiding any segmentation step was developed. Those two approaches were implemented and tested on phantoms, cadavers and patient data. We present their basis and evaluation.
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https://tel.archives-ouvertes.fr/tel-00008232
Contributor : Antoine Leroy <>
Submitted on : Monday, January 24, 2005 - 2:10:01 PM
Last modification on : Tuesday, November 24, 2020 - 4:18:04 PM
Long-term archiving on: : Friday, April 2, 2010 - 9:10:53 PM

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Antoine Leroy. Méthodes de Recalage Scanner/Echographie.Application à la Navigation Chirurgicale des Ponctions Rénales Percutanées. Interface homme-machine [cs.HC]. Institut National Polytechnique de Grenoble - INPG, 2004. Français. ⟨tel-00008232⟩

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