Landmark-free automatic digital twin registration in robot-assisted partial nephrectomy using a generic end-to-end model.

Journal: International journal of computer assisted radiology and surgery
Published Date: Jul 17, 2025

Abstract

PURPOSE: Augmented Reality in Minimally Invasive Surgery has made tremendous progress in organs including the liver and the uterus. The core problem of Augmented Reality is registration, where a preoperative patient's geometric digital twin must be aligned with the image of the surgical camera. The case of the kidney is yet unresolved, owing to the absence of anatomical landmarks visible in both the patient's digital twin and the surgical images.

Authors

  • Kilian Chandelon
    EnCoV, Institut Pascal, UMR6602 CNRS, UCA, Clermont-Ferrand University Hospital, Clermont-Ferrand, France. kilian.chandelon@gmail.com.
  • Alice Pitout
    Department of Urology, Bordeaux University Hospital, Bordeaux, France.
  • Mathieu Souchaud
    SURGAR - Surgical Augmented Reality, Clermont-Ferrand, France.
  • Julie Desternes
    SURGAR - Surgical Augmented Reality, Clermont-Ferrand, France.
  • Gaëlle Margue
    Department of Urology, Bordeaux University Hospital, Bordeaux, France - gaelle.margue@club.fr.
  • Julien Peyras
    SURGAR - Surgical Augmented Reality, Clermont-Ferrand, France.
  • Nicolas Bourdel
    Department of Gynaecological Surgery, CHU Clermont-Ferrand, 1 Place Lucie et Raymond Aubrac, 63000, Clermont-Ferrand, France. nicolas.bourdel@gmail.com.
  • Jean-Christophe Bernhard
    Department of Urology, University of Bordeaux, Bordeaux, France.
  • Adrien Bartoli
    EnCoV, Institut Pascal, CNRS, Université Clermont Auvergne, Clermont-Ferrand, France.

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