01/1 Intra-operative image guided MIS surgery

		3D planning for percutaneous transarticular screw placement including landmarks selection for intraoperative image guided surgery. Spinal surgery Transarticular screw fixation

Tools navigation and tracking are complex tasks in the domain of surgery. We not only need to be able to accurately define the 3D position of the tools but we also need to be able to take into account organs and/or tool deformation. The goal of this module is to use different intra-operative imagers to provide the correct and most relevant information required to perform, at high update rate, such an update.

The proposed approach is based on three steps:

• By using different types of preoperative imaging tools (CT, MRI, etc.), we first generate 3D models of the object of interest. These models are used for planning purposes. Planning includes the ability to deform objects and/or the definition of region of interest for later intra-operative deformation analysis.
  
• Real time navigation of the tools in the 3D space is performed through multimodal interaction. Navigation information sources are ranging from conventional marker based approach up to intra-operative vision based technique. We also include information retrieved from sensors integrated in the tools to enhance such a navigation
  
• Using different intra-operative imagers (ultrasound, fluoroscopy, etc.) combined with information provided by navigation tools, we perform an update of the environment to keep all or part of the model and the preoperative plan valid.
  

Our research is conducted in several medical domains. Our focus is mainly neurosurgery (percutaneous transarticular C1-C2 screw placement - rigid object of interest placed in a constrained deformable environment) and visceral surgery (kidney and liver surgery - deformable objects in deformable environments).