Development and evaluation of ultrasound-based surgical navigation system for percutaneous renal interventions

This paper develops an ultrasound-based surgical navigation system for percutaneous renal intervention. The system integrates preoperative magnetic resonance (MR) planning with intraoperative ultrasonography (US) slices, where the MR imagery is registered to the calibrated US data. The interventional punctures can then be performed under a visualized guidance interface. We describe the navigation system in details and evaluate the navigated intervention via a phantom model.