Prospection of electromagnetic navigation for hepatic ducts exploration by choledochoscope based on a three-dimensional printing model

Abstract

Objective To explore the feasibility of electromagnetic navigation for hepatic ducts exploration by choledochoscope based on a three-dimensional (3D) printing model. Methods The retrospective descriptive study was conducted. The clinical data of 1 patient with obstructive jaundice combined with secondary biliary tract dilation who was admitted to the Beijing Tsinghua Changgung Hospital in April 2016 were collected. Digital imaging and standardized format data of enhanced computed tomography (CT) scan were collected, 3D reconstruction of liver and bile duct were done under a 3D printing model, and then a hollow model of bile duct was achieved. Choledochoscope with internal electromagnetic probe was inserted into the printed hepatic ducts. Four points of anatomical markers in left and right hepatic ducts and common hepatic duct were chosen as fiducial markers for calibration and registration. Results After registration, the scope can be tracked in main hepatic segmental bile ducts. The locations of choledochoscope matched precisely the navigation results. Conclusion Electromagnetic navigation may bring accurate tracking effectiveness for choledochoscopic examination. Key words: Obstructive jaundice; Hepatolithiasis; Electromagnetic navigation; Choledochoscope; Three-dimensional reconstruction; Three-dimensional printing