opportunities in image-guided surgeryamos3.aapm.org/abstracts/pdf/137-41571-446581-142234.pdf ·...
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Opportunities in
Image-Guided Surgery
Nicholas Theodore, MD, FACS, FAANS Donlin M. Long Professor
Professor of Neurosurgery, Orthopaedics and Biomedical Engineering
Co-Director, Carnegie Center for Surgical Innovation
Johns Hopkins University
Origin of Stereotaxis
•1908: Victor Horsley and
Robert Clarke first published a
3D targeting technique for
neurosurgery in Brain.
•They used a Cartesian
coordinate system used to
lesion targets in monkey
brains from external cranial
land marks and cortical
topography, coining the term
“stereotaxis”.
Historical Perspectives • Roentgen & X-ray (November 8, 1895)*
• Horsley & Clarke, Stereotaxis (1906)
• Dandy & Pneumoencephalography (1919)
• Moniz & Cerebral Angiography (1927)
• Spiegel & Wycis, Stereoencephalotome (1946)
• Leksell & Stereotactic Frame (1949)
• Hounsfield & Cormack, CT (1979)*
• Lauterbur & Mansfield, MRI (2003)*
• *Nobel Prize
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Image Guided Brain Surgery
Evolution of Image Guided Spinal Surgery
•Plain radiography/C-arm
fluoroscopy
•Preoperative CT-based
•Intra-operative CT-based
•Fluoroscopy-based
•Intraoperative mobile 3D
imaging
Percutaneous Pedicle Screws for Trauma
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Registration
Intra-Operative Imaging
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Image Guided Brain Surgery
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State of the Art
• Frameless stereotaxy
• Intraoperative cone beam
imaging
• Intraoperative MRI
• Image-guided robotics
Leaders Followers
1996-2016
Navigation Adoption
Reference: Hartl, Roger, et al. “Worldwide Survey on the Use of Navigation in Spine Surgery.” World Neurosurgery, vol. 79, no. 1, 2013, pp. 162–172., doi:10.1016/j.wneu.2012.03.011.
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Leaders Followers 1996-2016
“Fiddle-Factor” is Too High
Reference: Hartl, Roger, et al. “Worldwide Survey on the Use of Navigation in Spine Surgery.” World Neurosurgery, vol. 79, no. 1, 2013, pp. 162–172., doi:10.1016/j.wneu.2012.03.011.
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Challenges
• Radiation Exposure
• Image Quality
• Image Merge
• Registration
• Automation
Why Image Guidance?
Bad Things Happen
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Meta-Analysis Results Navigation – Conventional vs. 2D vs. 3D
• Conventional Accuracy • Overall – 2532 or 3719 screws (68.1%)
• Cervical 69.4%
• Thoracic 50.8%
• Lumbar 75.9%
• 2D Fluoro Navigation accuracy • Overall – 1031 or 1223 screws (84.3%)
• Cervical 73.3%
• Thoracic 78.4%
• Lumbar 86.8%
• 3D Navigation • Overall – 4170 of 4368 screws (95.5%)
• Cervical 90.3%
• Thoracic 93.2%
• Lumbar 96.7%
•1985: The PUMA surgical robot was used to
position a biopsy cannula as a stable platform
for needle insertion of a brain biopsy
Introduction of Surgical Robots
•4 arms
•7 degrees of
freedom
•Master-slave
DaVinci Surgical System (1999)
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CyberKnifeⓇ (Accuray) 1994
Mako Robot 2015
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BNI, 2002 Theodore, Sonntag
• 1. Middle management
• 2. Salespeople
• 3. Report writers, journalists, authors
• 4. Accountants and bookkeepers
• 5. Doctors
*
*Spinal Surgery
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Robotics in Spinal Surgery
Capture Patients Seeking Less Invasive Surgery
Reduce Radiation Exposure
Surgeons, staff, and patients
Procedural Consistency
Automate trajectory alignment
Pre-Operative and Intra-Operative Planning
Patient Value = Efficacy * Less Invasiveness
Optimize surgical placement
2 -Helm, Patrick A. "Spinal Navigation and Imaging: History, Trends, and Future.” IEEE 34.8 (2015): 1738-1746. 3 –Tian, Nai-Feng, et. al. "Minimally invasive versus open transforaminal lumbar interbody fusion: a meta-analysis based on the current evidence.” Euro Spine J 22 (2013): 1741-1749. 4 – O’Toole, John. “Surgical Site Infection Rates after Minimally Invasive Spine Surgery.” J Neurosurg Spine 11 (2009): 471-476
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Robotics in Spinal Surgery
Real-time visualization of instruments with trajectory guidance
Active feedback on movement of anatomic reference (DRB)
Deflection sensing technology
BNI, 2002 Theodore, Sonntag
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Image Guidance & Robotics
Excelsius GPS™️ Workflow
Imaging, Robotics & Minimally Invasive Surgery
O-Arm
CereTom®
Biopsy Brain
Focal
Therapy
Spine
Confidential
X-ray
MRI
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CT Guided Biopsy
Future Directions • Confocal Microscopy & imaging for virtual
biopsy
• Fully automated surgery
• Artificial intelligence (& big data) for
complex procedures
• Tumor margins, bone density, surgical
planning
• Multi-modality imaging (MRI, ultrasound,
CT)
• Augmented reality for surgery
Future of Imaging
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