koelis techno overview 0909nov 09, 2009 · (c) koelis 2009 11-09-2009 3 our focus: urology –...
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11-09-2009(c) KOELIS 2009 1
KOELISAugmented Surgery
5, avenue du Grand SablonBIOPOLIS
38700 La Tronche, [email protected]
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11-09-2009(c) KOELIS 2009 2
Company Background
� Medtech company, inc. Oct 2006 in Grenoble, France� History
– 5 years R&D at Grenoble University (TIMC lab) France– Scientific & Clinical Partners (France, USA)
� Domain: Computer-Assisted Urology– Imaging - Planning– Modeling - Guiding– Navigation - Robotics
� Team– 5 people (2 managers, 2 R&D engineers, 1 app. engineer)
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11-09-2009(c) KOELIS 2009 3
Our Focus: Urology – Prostate Cancer
� FACTS– PCa incidence �, younger patients, smaller tumors– 2D echoguided biopsy is not accurate– New modalities contribute to diagnosis & prognosis
� Patients request accuracy and quality� VISION
– For the first time 3D ultrasound , image fusion and automatic organ tracking are combined to increase prostate biopsy precision and improvefocal therapy outcomes for all patients.
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11-09-2009(c) KOELIS 2009 4
TECHNOLOGY
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11-09-2009(c) KOELIS 2009 5
3D Image fusion
Prostate IRM/US
Prostate 3D US
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11-09-2009(c) KOELIS 2009 6
Method 1- Point-Based Registration
Acquisition Contouring 3D modeling Registration Fusion
MRI: pre-op
US: intra-op
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Method 2 - Iconic Registration
� Prostate Tracking/Morphing with intraop. 3D ultrasound
REFERENCE PROSTATE BIOPSY PROSTATE
Baumann et al., MICCAI 2007Towards 3D Ultrasound Image Based Soft Tissue Tracking: a Transrectal Ultrasound Prostate Image Alignment System
Baumann et al., MICCAI 2009Prostate Biopsy Assistance System with Gland Deformation Estimation for Enhanced Precision
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11-09-2009(c) KOELIS 2009 8
Morphological Segmentation
� On MRI On 3D TRUS
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11-09-2009(c) KOELIS 2009 10
Research Projects - RoboticsNeedle insertion motor
Needle disengagement
mechanism
Needle grip
Needle
Z-translation
motor
Horizontal
motors
Vertical motors
Laboratory stand
Needle rotation motor
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PRODUCT
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UROSTATION
3D TRUS SCANNER
Ethernet
3D TRUS PROBE
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11-09-2009(c) KOELIS 2009 14
3D Targeted Prostate Biopsy
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Clinical Validation
� Pitié Salpêtrière Hospital, Paris – +100 Patients enrol.– Live targeting– Improved distribution– 3D recording
Urostation
3D US ScannerPatient
Mozer et al., Journal of Ultrasound in Medicine 2009Mapping of Transrectal Ultrasound Prostate Biopsies: Quality Control and Learning Curve Assessment by Image Processing