Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology

Jocelyne Troccaz (1) , Michael Baumann (2, 3) , Peter Berkelman (2) , Philippe Cinquin (2) , Vincent Daanen (2) , Antoine Leroy (2, 3) , Maud Marchal (2) , Yohan Payan (1) , Emmanuel Promayon (2) , Sandrine Voros (2) , Stéphane Bart (2) , Michel Bolla (4) , Emmanuel Chartier-Kastler (5) , Jean-Luc Descotes (6) , Andrée Dusserre (4) , Jean-Yves Giraud (4) , Jean-Alexandre Long (2) , Ronan Moalic (6) , Pierre Mozer (2, 5)

1 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
2 TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
3 INSIDE - INtegrative research unit on Social and Individual DEvelopment
4 CHU de Grenoble radiothérapie
5 CHU Pitié-Salpêtrière [AP-HP]
6 Service de chirurgie

Until recently, Computer-Aided Medical Interventions (CAMI) and Medical Robotics have focused on rigid and non deformable anatomical structures. Nowadays, special attention is paid to soft tissues, raising complex issues due to their mobility and deformation. Mini-invasive digestive surgery was probably one of the first fields where soft tissues were handled through the development of simulators, tracking of anatomical structures and specific assistance robots. However, other clinical domains, for instance urology, are concerned. Indeed, laparoscopic surgery, new tumour destruction techniques (e.g. HIFU, radiofrequency, or cryoablation), increasingly early detection of cancer, and use of interventional and diagnostic imaging modalities, recently opened new challenges to the urologist and scientists involved in CAMI. This resulted in the last five years in a very significant increase of research and developments of computer-aided urology systems. In this paper, we propose a description of the main problems related to computer-aided diagnostic and therapy of soft tissues and give a survey of the different types of assistance offered to the urologist: robotization, image fusion, surgical navigation. Both research projects and operational industrial systems are discussed.

Mots clés: Computer-aided surgery; medical robotics; medical image registration; urology

Domaines: Ingénierie biomédicale; Autre [cs.OH]; Imagerie médicale; Robotique [cs.RO]

Jocelyne Troccaz, Michael Baumann, Peter Berkelman, Philippe Cinquin, Vincent Daanen, et al.. Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology. Proceedings of the IEEE, 2006, 94 (9), pp.1665-1677. ⟨hal-00195036⟩