Ms. Yajie Lou Profile

Yajie Lou

at Columbia Univ.

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Proceedings Article | 4 April 2022 Presentation + Paper

Surgical navigation system for image-guided transoral robotic surgery: a proof of concept

Yuan Shi, Yajie Lou, Iroha Shirai, Xiaotian Wu, Joseph Paydarfar, Ryan Halter

Proceedings Volume 12034, 1203409 (2022) https://doi.org/10.1117/12.2613486

KEYWORDS: Head, Surgery, 3D modeling, Navigation systems, Computed tomography, Sensors, Robotic surgery, Cancer, Image-guided intervention

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Transoral robotic surgery (TORS) has demonstrated improved surgical outcomes with reduced morbidity when compared to traditional open surgical treatments. However, it is more difficult to assess the extent of tumor and localize critical structures due to lack of haptic feedback and the natural orifice approach. Enabling image-guided TORS (igTORS) to compensate for the sensory deficit requires a surgical navigation system that is compatible with both the TORS procedures and the da Vinci surgical system. Previously, the authors developed an imaging compatible oral retractor system for TORS to allow artifact-free intraoperative CT images for use in image guidance. In this work, we developed a surgical navigation system for TORS that utilizes intraoperative images and electromagnetic (EM) tracking. A cadaver experiment simulating a standard TORS procedure was performed to examine system feasibility and accuracy. A da Vinci Bovie instrument was tracked, and its real-time location was visualized in tri-planar CT images and displayed on the surgeon’s console and on the bedside vision cart using the TilePro feature. Target localization error (TLE) was computed to be 3.46±0.77 mm. This was the first time that surgical navigation in TORS was demonstrated with intraoperative image guidance and EM tracking of da Vinci instruments in a cadaver experiment.

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