Multiple view geometry in computer visiond
Multiple view geometry in computer visiond
Mean Shift: A Robust Approach Toward Feature Space Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Mean Shift Based Clustering in High Dimensions: A Texture Classification Example
ICCV '03 Proceedings of the Ninth IEEE International Conference on Computer Vision - Volume 2
pq-space based non-photorealistic rendering for augmented reality
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Soft-tissue motion tracking and structure estimation for robotic assisted MIS procedures
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
Gaze-Contingent soft tissue deformation tracking for minimally invasive robotic surgery
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part III
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The use of focused energy delivery in robotic assisted surgery for atrial fibrillation requires accurate prescription of ablation paths. In this paper, an original framework based on fusing human and machine vision for providing gaze-contigent control in robotic assisted surgery is provided. With the proposed method, binocular eye tracking is used to estimate the 3D fixations of the surgeon, which are further refined by considering the camera geometry and the consistency of image features at reprojected fixations. Nonparametric clustering is then used to optimize the point distribution to provide an accurate ablation path. For experimental validation, a study where eight subjects prescribe an ablation path on the right atrium of the heart using only their gaze control is presented. The accuracy of the proposed method is validated using a phantom heart model with known 3D ground truth.