Motion Compensated SLAM for Image Guided Surgery View Full Text


Ontology type: schema:Chapter      Open Access: True


Chapter Info

DATE

2010

AUTHORS

Peter Mountney , Guang-Zhong Yang

ABSTRACT

The effectiveness and clinical benefits of image guided surgery are well established for procedures where there is manageable tissue motion. In minimally invasive cardiac, gastrointestinal, or abdominal surgery, large scale tissue deformation prohibits accurate registration and fusion of pre- and intraoperative data. Vision based techniques such as structure from motion and simultaneous localization and mapping are capable of recovering 3D structure and laparoscope motion. Current research in the area generally assumes the environment is static, which is difficult to satisfy in most surgical procedures. In this paper, a novel framework for simultaneous online estimation of laparoscopic camera motion and tissue deformation in a dynamic environment is proposed. The method only relies on images captured by the laparoscope to sequentially and incrementally generate a dynamic 3D map of tissue motion that can be co-registered with pre-operative data. The theoretical contribution of this paper is validated with both simulated and ex vivo data. The practical application of the technique is further demonstrated on in vivo procedures. More... »

PAGES

496-504

References to SciGraph publications

  • 2009. Non-rigid Reconstruction of the Beating Heart Surface for Minimally Invasive Cardiac Surgery in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2009
  • 2008. Soft Tissue Tracking for Minimally Invasive Surgery: Learning Local Deformation Online in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2008
  • 2007. pq-space Based Non-Photorealistic Rendering for Augmented Reality in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2007
  • 2005. Soft-Tissue Motion Tracking and Structure Estimation for Robotic Assisted MIS Procedures in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2005
  • 2006. Simultaneous Stereoscope Localization and Soft-Tissue Mapping for Minimal Invasive Surgery in MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION – MICCAI 2006
  • Identifiers

    URI

    http://scigraph.springernature.com/pub.10.1007/978-3-642-15745-5_61

    DOI

    http://dx.doi.org/10.1007/978-3-642-15745-5_61

    DIMENSIONS

    https://app.dimensions.ai/details/publication/pub.1025252229

    PUBMED

    https://www.ncbi.nlm.nih.gov/pubmed/20879352


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