Figure 1
Pipeline of modern image-guided surgery. Left: Surgeons use a variety of imaging techniques preoperatively for surgical planning, such as X-ray, CT, MRI, PET, and others. Right: During surgery, imaging and modern visualization tools are used for guidance and verification. CT: computed tomography; MRI: magnetic resonance imaging; PET: positron emission tomography
Figure 2
Example of a segmented and colorized 3-dimensional model of a patient heart as seen in a virtual reality headset.
Figure 3
Preliminary work enabling visualization of thoracic vasculature using mixed reality to fuse the real patient with 3D reconstruction of the CT-scanned anatomy of interest. 3D: 3-dimensional; CT: computed tomography
Figure 4
Robotic treatment of type II endoleak after endovascular aneurysm repair. (A) Axial view of dynamic CTA showing type II endoleak evidenced by retrograde filling of the excluded aneurysm sac from the inferior mesenteric artery (IMA). (B) Dissection carried down to the anterior surface of the aneurysm sac with the origin and first branch of the IMA is mobilized prior to ligation. (C) Axial view of dynamic CTA showing type II endoleak evidenced by retrograde filling of the excluded aneurysm sac from the lumbar artery, allowing orientation and spinal level to be identified for preoperative planning. (D) Aneurysm sac visualized on the left side of the screen with identification of left-sided posterolateral lumbar artery seen on preoperative dynamic CTA as source for type II endoleak. (E) Da Vinci Xi patient-side cart with 4 arms docked to robotic ports and working instruments. CTA: computed tomography angiogram.