1. Computer Assisted Surgery
Computer Vision Group
Artificial Intelligence Laboratory
Massachusetts Institute of Technology
Surgical Planning Lab
Brigham and Women’s Hospital
Harvard Medical School

2. Computer assisted surgery
Goal:
Use computer vision techniques to plan and guide surgical interventions, by giving the surgeon the ability to sense critical information that is not normally visible to her
How?
Capture models of patient anatomy and function
Use to guide surgeon’s actions

3. Conventional Surgery: See the surface
Provided by Nakajima, Atsumi et al.

4. Image Guided Surgery: See under the surface
Provided by Leventon et al.

5. Intelligently aiding the surgeon
Convert medical images into models of patient’s:
Structural anatomy
Functional anatomy
Vascular structure

6. Example patient specific models
Green is tumor

7. Central Vessels Courtesy of Lorigo common carotid artery
subclavian artery
brachio
cephalic
trunc
brachio cephalic
trunc
pulmonary trunk
pulmonary
veins
aorta
Courtesy of Lorigo

8. Functional information
Movie: fmri.avi.
Lots of activity in the rest state, need statistical methods to identify the brain activation that corresponds to the action in the presence of the background activation.
In this example, the subject was asked to squeeze a all. The red area in the movie corresponds to the motor cortex.

9. Visualizing the surgical site
Augmented reality visualizations
combine with real imagery
Surgical guidance
planning and navigation
Simulation of surgical navigation
Use image information for diagnostics

10. Augmented Reality

11. Surgical guidance
Movie: locator.avi different image modalities (MRI, fMRI, angio) are used to provide as much information as possible to the surgeons. Tools are tracked during surgery. New images are acquired as the procedure progresses.

12. Simulation: virtual endoscopy

13. Simulation: virtual endoscopy
Movie: colonFly.mov: virtual fly-through constructed from the 3D CT image of a colon. Can be interactive or passive. Color indicates suspicious areas of high curvature (polyps).