Medical Imaging

Image-Guided Robotic Spinal Surgery

Responsible:

Borro, Diego

Participants:

Bertelsen, Álvaro

ABSTRACT

This work presents the implementation of the image processing applications required by a robotic assistant designed for transpedicular fixation, a particular type of spine surgery consisting in the immobilisation of multiple vertebrae by means of screws connected by metal bars. Usually, transpedicular fixation also known as inter-body fusion is done to prevent further damage on a vertebra affected by fracture, disc problems or tumours. This surgery demands high levels of precision, as a badly inserted screw can damage the spinal cord, the surrounding blood vessels or the pedicle itself. Misplacement of screws is not uncommon: figures vary between studies but can reach values up to 30%, which can be effectively lowered by the use of Computer Assisted Surgery (CAS) systems. However, further improvement could be obtained by means of a robotic assistant like the one described here, which would cooperate with the surgeon steadily holding the instrumental on precise locations. In this way, the surgeon would always remain in charge of the intervention, while the robot performs tasks which are either repetitive or demand too much precision.

PAPERS

Books:

  • Bertelsen, A., Planning and Registration Techniques for Image-Guided Robotic Spinal Surgery (ISBN 978-84-8081-342-6), PhD Thesis Dissertation in December 2012. Ed. Universidad de Navarra (January 2013). (pdf).

Journals:

  • Bertelsen, A., Garín-Muga, A., Echeverría, M., Gómez, E., and Borro, D., “Distortion correction and calibration of intra-operative spine X-ray images using a constrained DLT algorithm”, Computerized Medical Imaging and Graphics, Special Issue on Computational Methods and Clinical Applications for Spine Imaging, Vol. 38, No. 7, pp. 558-568. October 2014. (pdf)

  • Bertelsen, A., Melo, J., Sánchez, E., and Borro, D., “A review of surgical robots for spinal interventions”, International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 9, No. 4, pp. 407-422. December 2013. (pdf).

  • Melo, J., Bertelsen, A., Borro, D., and Sánchez, E., “Nuevo Asistente Robótico para Cirugía: Arquitectura y Algoritmos de Control", Revista Dyna, Ingeniería e Industria, Vol. 87, No. 6, pp. 647-654. November/December 2012. (URL).

  • Bertelsen, A., and Borro, D., "2D-3D Registration with Multiple Fixed Images", The Source, Ed. Kitware. January 2012 (Available: http://www.kitware.com/source/home/post/53).

  • Bertelsen, A., and Borro, D., "An ITK-Based Framework for 2D-3D Registration with Multiple Fixed Images", Insight Journal. 2011 January-June (May 2011) (Available with source code: http://hdl.handle.net/10380/3264).

Conferences:

  • Bertelsen, A., Echeverría, M., Gómez, E., and Borro, D., “Distortion Correction and Calibration of Intra-operative X-ray Images using a constrained DLT Algorithm”, Proceedings of the XXX Congreso Anual de la Sociedad Española de Ingeniería Biomédica (CASEIB 2012). San Sebastián, Spain. November 19-21, 2012.

  • Bertelsen, A., Melo, J., Sánchez, E., and Borro, D., “Implementation of a cooperative human-robot system for transpedicular fixation surgery”, Proceedings of the XXIX Congreso Anual de la Sociedad Española de Ingeniería Biomédica (CASEIB 2011), pp. 303-306. Cáceres, Spain. November 16-18, 2011. (pdf).

  • Bertelsen, A., Tejada, S., Muñoz, A., Ortiz, C., and Borro, D., "Segmentation of the Skull from MR T1 Images Using Label Fusion", Proceedings of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2010), pp. 3121-3124. Buenos Aires, Argentina. August 31 - September 4, 2010.

Posters:

  • Buchart, C., Bertelsen, A., and Borro, D., “viewitLib – A Framework for the Development of Software for Medical Images Visualization”, Poster Proceedings of the XXX Congreso Anual de la Sociedad Española de Ingeniería Biomédica (CASEIB 2012). San Sebastián, Spain. November 19-21, 2012. (pdf).

  • Melo, J., Bertelsen, A., Borro, D., and Sánchez, E., "Implementation of a cooperative human-robot system for transpedicular fixation surgery", Poster Proceedings of the 50th Anniversary Conference. Engineering: Science and Technology. San Sebastián, Spain. May 31 – June 1, 2012.

VIDEOS

RELATED PROJECTS

Study of LLD using Tractography

Responsibles:

Borro, Diego

Participants:

Garín, Alba

ABSTRACT

Neuroimaging has increasingly been applied in patients with neurological disorders to investigate in vivo the structural changes occurring in the brain. White matter develops during childhood and continues to mature until late twenties when the natural course of aging appears, causing changes and abnormalities. Describing those changes in brain structure is essential for the understanding of neurological disorders. New in vivo imaging techniques have arisen such as Diffusion Tensor Imaging (DTI), Positron emission tomography (PET) or Functional Magnetic Resonance Imaging (fMRI). Those techniques have been widely used in the research of different neurological diseases, including depression. Depression, along with dementia, is the most prevalent psychiatric illness in old age. The outbreak of the disease can occur to a person who already had had past episodes at earlier times of life (first time before 50: early onset) or, in other cases, the first episode can occur at this age (first time after 50: late onset or late life depression, LLD). Depression in elderly is a heterogeneous illness and it is hard to describe its aetiology and psychopathology.

PAPERS

Journals:

  • Garín-Muga, A., Borro, D., García-Eulate, R, Sánchez-Ostiz, R., and Pla-Vidal, J., “DTIstatistics, a Clinical Developed Tool”, International Psychogeriatric Association Bulletin, Vol. 32, No. 2, pp. 8-9. June/July 2015.

  • Garín-Muga, A., Pla-Vidal, J., and Borro, D., “An automatic tool to facilitate the statistical group analysis of DTI”, Computers in Biology and Medicine, Vol. 53, pp. 76-84. October 2014. (pdf).

Conferences:

  • Garin-Muga, A., and Borro, D., “Review and Challenges of Brain Analysis through DTI Measurements”, Proceedings of the International Conference on Innovation in Medicine & Healthcare (INMED 2014), pp. 27-36. San Sebastián, Spain. July 9-11, 2014. (pdf).

  • Garín, A., Baquero, A., Marín, J., García-Eulate, M.R., Pla, J., and Borro, D., “Early-onset and Late-onset Major Depressive Disorder in the Elderly: A DTI Study with Tract-based Spatial Statistics”, Proceedings of the XXX Congreso Anual de la Sociedad Española de Ingeniería Biomédica (CASEIB 2012). San Sebastián, Spain. November 19-21, 2012. (pdf).

Posters:

    • Baquero, A., Marin, J., Garin, A., Borro, D., García-Eulate, M.R., and Pla, J., "Prevention of depression in elderly: factors in clinical research", Poster Proceedings of the American Association for Geriatric Psychiatry Annual Meeting (AAGP 2012), Vol. 20, No. 3, Supplement 1, pp. S65-S66 (ISSN: 1064-7481). Washington, DC, USA. March 16-19, 2012.

VIDEOS

RELATED PROJECTS