Objective: Respiratory movements are a significant factor that may hinder the use of image navigation systems during minimally invasive procedures used to destroy focal lesions in the liver. This article aims to present a method of estimating the displacement of the target point due to respiratory movements during the procedure, working in real time.
Method: The real-time method using skin markers and non-rigid registration algorithms has been implemented and tested for various classes of transformation. The method was validated using clinical data from 21 patients diagnosed with liver tumors. For each patient, each marker was treated as a target and the remaining markers as target position predictors, resulting in 162 configurations and 1095 respiratory cycles analyzed. In addition, the possibility of estimating the respiratory phase signal directly from intraoperative US images and the possibility of synchronization with the 4D CT respiratory sequence are also presented, based on ten patients.
Results: The median value of the target registration error (TRE) was 3.47 for the non-rigid registration method using the combination of rigid transformation and elastic body spline curves, and an adaptation of the assessing quality using image registration circuits (AQUIRC) method. The average maximum distance was 3.4 (minimum: 1.6, maximum 6.8) mm.
Conclusions: The proposed method obtained promising real-time TRE values. It also allowed for the estimation of the TRE at a given geometric margin level to determine the estimated target position. Directions for further quantitative research and the practical possibility of combining both methods are also presented.
Keywords: destruction of liver tumors; image-guided navigation; minimally invasive liver interventions; modeling of respiratory motion.