229:. This system correlates three different coordinate sets: CT data set, surface laser scan data set and the dataset produced by a small guiding transmitter, placed on the patient's head. The Laboratory Unit for Computer-Assisted Surgery (LUCAS) is used for planning surgery in the laboratory. This technological and surgical advance has permitted the elimination of mechanical guidance systems and improved the accuracy of the determinations, and thus the surgical act.
143:
202:
210:
138:
The bony structures can provide a much better stability and reproducibility of the landmarks for patient registration. Based on this concept, a further technique was used: to implant temporary markers into bone structures that are superficial to the skin, under local anestesia. This was also combined
217:
Since 1998, new procedures have been developed by
Marmulla and co-workers, using a different approach to the problem. Both during CT dataset gathering and surgical intervention, the patient registration was made by registering complete areas and surfaces, instead of distinctive surface markers. This
192:
The first attempts, based on the identification of anatomical landmarks were made by
Caversaccio and Zulliger. The method was based on identifying certain antropometrical points and other anatomical landmarks on the skull, in correlation with the CT registration. But the landmarks cannot be exactly
111:
Patient registration for the head area has developed for nearly two decades on the same principle of combining CT scans with mechanical reference devices such as headframes or halo rings. But the clinical experience showed that headgear is very uncomfortable to wear and even impossible to apply on
129:
In 1986, a different approach was developed by
Roberts und Strohbehn. They have used as landmarks several markers on the patient's skin both preoperative CT registration, and intraoperatively. This was a new current of the time in patient registration. Still, the method is time-consuming, and the
62:
scans of that region. The role of patient registration is to obtain a close-to-ideal reference reproducibility of the dataset – in order to correlate the position (offset) of the gathered dataset with the patient's position during the surgical intervention. Patient registration (1) eliminates the
88:
headframe that had to be fixed to the head. It was based on cartesian principles and allowed them to accurately and reproductibly guide needle-like electrodes for neurophysiological experiments. They have experimented animals and were able to contribute to the mapping of the cerebellum. Improved
47:, in order to insure the reproducitibility of the preoperative registration and the clinical situation during surgery. The use of the term "patient registration" out of this context can lead to a confusion with the procedure of registering a patient into the files of a medical institution.
63:
necessity of maintaining the same strict position of the patient during both preoperative scanning and surgery, and (2) provides the surgical robot the necessary reference information to act accurately on the patient, even if he has (been) moved during the intervention.
100:
and, during time, its applicability was extended for the surgical treatment of tumors, vascular malformations, functional neurosurgery etc. The system was based both on headframes and X-ray images taken for all three planes of space.
71:
Patient registration was used mostly in head surgery – oral and maxillofacial surgery, neurosurgery, otolaryngology. With the advent of marker- and markerless-registration, the concept has been extended for abdominal surgery.
489:
Caversaccio M, Zulliger D, Bächler R, Nolte LP, Häusler R (November 2000). "Practical aspects for optimal registration (matching) on the lateral skull base with an optical frameless computer-aided pointer system".
54:, the first step is to gather a 3D dataset that reproduces with great accuracy the geometry of the normal and pathological tissues in the region that has to be operated on. This is mainly obtained by using
139:
with surface markers and CT registration. The technique has the disadvantage of a further minimal surgical procedure of placing the bone implants, with some risk of infection for the patient.
369:
Roberts DW, Strohbehn JW, Hatch JF, Murray W, Kettenberger H (October 1986). "A frameless stereotaxic integration of computerized tomographic imaging and the operating microscope".
334:
Heilbrun MP, Roberts TS, Apuzzo ML, Wells TH, Sabshin JK (August 1983). "Preliminary experience with Brown-Roberts-Wells (BRW) computerized tomography stereotaxic guidance system".
439:
Maurer Jr CR, Aboutanos GB, Dawant BM, Margolin RA, Maciunas RJ, Fitzpatrick JM (May 1995). "Registration of CT and MR brain images using a combination of points and surfaces.".
104:
Further development of stereotactic surgery was made by Brown, Roberts and Wells in 1980. They have developed a halo ring that was applied on the skull, during a
236:
developed a method to use optical topographical imaging (OTI) to create a 3D model of the surface of open surgical sites and perform surface registration to
218:
was achieved by using laser scanners and a small guiding transmitter. The precision of the patient registration was significantly improved with this method.
589:"High Speed, High Density Intraoperative 3D Optical Topographical Imaging with Efficient Registration to MRI and CT for Craniospinal Surgical Navigation"
108:
scan and neurosurgical interventions. This method provided improved surgical guidance and was in fact the first development of computer guided surgery.
96:
The first stereotactic device for humans was also developed in neurosurgery, by E. Spiegel and H. Wycis in 1947. It was used for surgical treatment of
649:"Optical Topographic Imaging for Spinal Intraoperative 3-Dimensional Navigation in the Cervical Spine: Initial Preclinical and Clinical Feasibility"
179:
and orthognathic surgery. By applying several infrared markers on the splints and using an infrared camera, a better registration was obtained.
252:
552:
Marmulla R, LĂĽth T, MĂĽhling J, Hassfeld S (July 2004). "Markerless laser registration in image-guided oral and maxillofacial surgery".
272:
Clarke RH, Horsley V (1906). "On a method of investigating the deep ganglia and tracts of the central nervous system (cerebellum)".
167:
Dental splints have been traditionally used for transferring and reproducing 3D reference landmarks for positioning cast models in
404:
Alp MS, Dujovny M, Misra M, Charbel FT, Ausman JI (January 1998). "Head registration techniques for image-guided surgery".
193:
pointed out and reproduced during patient dataset registration and surgery, therefore the method is not precise enough.
709:
291:
Spiegel EA, Wycis HT, Marks M, Lee AJ (October 1947). "Stereotaxic
Apparatus for Operations on the Human Brain".
233:
454:
Hassfeld S, Mühling J, Zöller J (February 1995). "Intraoperative navigation in oral and maxillofacial surgery".
226:
704:
90:
714:
241:
222:
59:
248:
51:
44:
221:
Based on this concept, several registration and navigation systems were built by the same team. The
113:
147:
33:
97:
647:
Guha D, Jakubovic R, Alotaibi NM, Deorajh R, Gupta S, Fehlings MG, et al. (August 2019).
699:
600:
517:
Marmulla R, Niederdellmann H (December 1998). "Computer-assisted bone segment navigation".
300:
112:
little children, because their lack of cooperation; furthermore, the headframes can create
8:
105:
55:
604:
304:
621:
588:
587:
Jakubovic R, Guha D, Gupta S, Lu M, Jivraj J, Standish BA, et al. (October 2018).
530:
467:
670:
626:
569:
534:
499:
471:
421:
386:
351:
316:
694:
660:
616:
608:
561:
526:
463:
443:. Vol. 2434. International Society for Optics and Photonics. pp. 109–123.
417:
413:
378:
343:
308:
20:
665:
648:
312:
40:
612:
565:
382:
347:
172:
81:
142:
688:
674:
630:
573:
538:
503:
320:
245:
176:
85:
475:
425:
390:
355:
168:
155:
43:
with the reference position of the patient. This procedure is crucial in
30:
151:
201:
237:
130:
exact reproducitibility of the marker positions is questionable.
36:
438:
488:
80:
The first attempts in 3D mapping of human tissues were made by
646:
551:
368:
333:
209:
234:
Ryerson
University (now Toronto Metropolitan University)
456:
International
Journal of Oral and Maxillofacial Surgery
516:
403:
93:
are still in used today in experimental neurosurgery.
453:
84:
and R. Clarke in 1906. They have built a rectangular
586:
290:
213:
Actual usage of the SSN system in the operating room
225:is such a system, developed for the first time for
116:in preoperative data gathering, or during surgery.
182:
29:is used to correlate the reference position of a
16:Aligns 3D medical imaging with patient's position
686:
154:of the jaw bones, based on models fixed into an
271:
545:
642:
640:
510:
482:
284:
447:
397:
362:
327:
251:. The OTI technology is being licensed by
223:Surgical Segment Navigator (SSN and SSN++)
205:Schematic representation of the SSN system
664:
620:
554:Journal of Oral and Maxillofacial Surgery
637:
519:Journal of Cranio-Maxillo-Facial Surgery
208:
200:
162:
158:(registration based on infrared devices)
141:
196:
187:
687:
119:
75:
13:
14:
726:
580:
492:The American Journal of Otology
255:for their navigation platform.
183:Markerless patient registration
432:
418:10.1080/01616412.1998.11740481
265:
227:oral and maxillofacial surgery
66:
1:
531:10.1016/s1010-5182(98)80067-x
468:10.1016/s0901-5027(05)80871-9
258:
666:10.1097/BSD.0000000000000795
313:10.1126/science.106.2754.349
7:
10:
731:
613:10.1038/s41598-018-32424-z
566:10.1016/j.joms.2004.01.014
383:10.3171/jns.1986.65.4.0545
348:10.3171/jns.1983.59.2.0217
18:
710:Computer-assisted surgery
52:computer assisted surgery
45:computer assisted surgery
146:Surgical planning using
91:Horsley–Clarke apparatus
19:Not to be confused with
371:Journal of Neurosurgery
336:Journal of Neurosurgery
274:British Medical Journal
148:bone segment navigation
133:
124:
653:Clinical Spine Surgery
214:
206:
159:
406:Neurological Research
212:
204:
163:Dental splint markers
145:
39:gathered by computer
232:A research group at
197:Surface registration
188:Anatomical landmarks
27:Patient registration
705:Otorhinolaryngology
605:2018NatSR...814894J
305:1947Sci...106..349S
98:Parkinson's disease
715:Health informatics
593:Scientific Reports
215:
207:
173:dental prosthetics
160:
462:(1 Pt 2): 111–9.
120:Reference markers
722:
679:
678:
668:
644:
635:
634:
624:
584:
578:
577:
549:
543:
542:
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451:
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444:
436:
430:
429:
401:
395:
394:
366:
360:
359:
331:
325:
324:
299:(2754): 349–50.
288:
282:
281:
269:
89:versions of the
76:Using headframes
21:Patient check-in
730:
729:
725:
724:
723:
721:
720:
719:
685:
684:
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682:
645:
638:
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515:
511:
487:
483:
452:
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441:Medical Imaging
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185:
165:
136:
127:
122:
78:
69:
41:medical imaging
24:
17:
12:
11:
5:
728:
718:
717:
712:
707:
702:
697:
681:
680:
659:(7): 303–308.
636:
579:
544:
509:
481:
446:
431:
396:
361:
326:
283:
263:
262:
260:
257:
244:data sets for
198:
195:
189:
186:
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181:
164:
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135:
132:
126:
123:
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118:
77:
74:
68:
65:
15:
9:
6:
4:
3:
2:
727:
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708:
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703:
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690:
676:
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654:
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628:
623:
618:
614:
610:
606:
602:
598:
594:
590:
583:
575:
571:
567:
563:
560:(7): 845–51.
559:
555:
548:
540:
536:
532:
528:
525:(6): 347–59.
524:
520:
513:
505:
501:
498:(6): 863–70.
497:
493:
485:
477:
473:
469:
465:
461:
457:
450:
442:
435:
427:
423:
419:
415:
411:
407:
400:
392:
388:
384:
380:
376:
372:
365:
357:
353:
349:
345:
342:(2): 217–22.
341:
337:
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322:
318:
314:
310:
306:
302:
298:
294:
287:
279:
275:
268:
264:
256:
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246:neurosurgical
243:
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180:
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157:
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144:
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131:
117:
115:
109:
107:
102:
99:
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87:
83:
73:
64:
61:
57:
53:
48:
46:
42:
38:
35:
32:
28:
22:
700:Neurosurgery
656:
652:
599:(1): 14894.
596:
592:
582:
557:
553:
547:
522:
518:
512:
495:
491:
484:
459:
455:
449:
440:
434:
409:
405:
399:
377:(4): 545–9.
374:
370:
364:
339:
335:
329:
296:
292:
286:
280:: 1799–1800.
277:
273:
267:
231:
220:
216:
191:
177:orthodontics
169:articulators
166:
137:
128:
110:
103:
95:
86:stereotactic
79:
70:
49:
26:
25:
412:(1): 31–7.
253:7D Surgical
156:articulator
67:Application
689:Categories
259:References
249:navigation
82:V. Horsley
152:osteotomy
114:artifacts
675:30839418
631:30291261
574:15218564
539:10036650
504:11078077
321:17777432
150:for the
695:Surgery
622:6173775
601:Bibcode
476:7782645
426:9471100
391:3531430
356:6345727
301:Bibcode
293:Science
37:dataset
31:virtual
673:
629:
619:
572:
537:
502:
474:
424:
389:
354:
319:
171:– in
671:PMID
627:PMID
570:PMID
535:PMID
500:PMID
472:PMID
422:PMID
387:PMID
352:PMID
317:PMID
240:and
134:Bone
125:Skin
661:doi
617:PMC
609:doi
562:doi
527:doi
464:doi
414:doi
379:doi
344:doi
309:doi
297:106
242:MRI
60:MRI
58:or
50:In
691::
669:.
657:32
655:.
651:.
639:^
625:.
615:.
607:.
595:.
591:.
568:.
558:62
556:.
533:.
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521:.
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458:.
420:.
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408:.
385:.
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373:.
350:.
340:59
338:.
315:.
307:.
295:.
276:.
238:CT
175:,
106:CT
56:CT
34:3D
677:.
663::
633:.
611::
603::
597:8
576:.
564::
541:.
529::
506:.
478:.
466::
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416::
393:.
381::
358:.
346::
323:.
311::
303::
278:2
23:.
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