Image-Guided Surgical Planning for Percutaneous Nephrolithotomy Using CTRs: A Phantom-Based Study
Filipe C. Pedrosa, Navid Feizi, Dianne Sacco, Rajni V. Patel, Jagadeesan Jayender
Abstract
In this paper, we validate the effectiveness of the optimal planning algorithms we have developed for devising surgical plans for Percutaneous Nephrolithotomy (PCNL) using patient-specific Concentric-Tube Robots (CTRs). To do so, we built a life-sized phantom model of the right hemithorax, replicating the anatomy of a patient who suffered from kidney stone and underwent conventional PCNL. Two-dimensional CT scans of the phantom model and its 3D reconstruction enabled the creation of a surgical plan using our planning algorithms based on a puncture into the mid-pole of the kidney. This was compared with two other percutaneous tracts involving punctures into the lower and upper calyces for comparison. The optimal mid-pole plan achieved 84% stone coverage, significantly outperforming the lower pole (58 %) and upper pole (45 %) plans. These results validate the effectiveness of the algorithms and align with simulation-based findings from previous studies, which reported an average volume coverage of 81.6±19.6 % in clinical cases.
BibTeX
@inproceedings{icra2025_imageguidedsurgi,
title = {Image-Guided Surgical Planning for Percutaneous Nephrolithotomy Using CTRs: A Phantom-Based Study},
author = {Filipe C. Pedrosa and Navid Feizi and Dianne Sacco and Rajni V. Patel and Jagadeesan Jayender},
booktitle = {ICRA 2025},
year = {2025}
}