B. Fuerst, J. Sprung, F. Pinto, B. Frisch, T. Wendler, H. Simon, L. Mengus, N. S. van den Berg, H.G. van der Poel, F.W.B. van Leeuwen, N. Navab First Robotic SPECT for Minimally Invasive Sentinel Lymph Node Mapping IEEE Transactions on Medical Imaging, 2015. (bib)
	In this paper we present the usage of a dropin gamma probe for intra-operative Single-Photon Emission Computed Tomography (SPECT) imaging in the scope of minimally invasive robot-assisted interventions. The probe is designed to be inserted and reside inside the abdominal cavity during the intervention. It is grasped during the procedure using a robotic laparoscopic gripper enabling full six degrees of freedom handling by the surgeon. We demonstrate the first deployment of the tracked probe for intra-operative in-patient robotic SPECT enabling augmented-reality image guidance. The hybrid mechanical- and image-based in-patient probe tracking is shown to have an accuracy of 0.2 mm. The overall system performance is evaluated and tested with a phantom for gynecological sentinel lymph node interventions and compared to ground-truth data yielding a mean reconstruction accuracy of 0.67 mm.
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