A Global Approach for Automatic Fibroscopic Video Mosaicing in Minimally Invasive Diagnosis
MICCAI '08 Proceedings of the 11th international conference on Medical Image Computing and Computer-Assisted Intervention - Part I
Dynamic View Expansion for Enhanced Navigation in Natural Orifice Transluminal Endoscopic Surgery
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Endoscopic Feature Tracking and Scale-Invariant Estimation of Soft-Tissue Structures
IEICE - Transactions on Information and Systems
Endoscopic navigation for minimally invasive suturing
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Simultaneous stereoscope localization and soft-tissue mapping for minimal invasive surgery
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Markerless endoscopic registration and referencing
MICCAI'06 Proceedings of the 9th 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 II
Targeted optical biopsies for surveillance endoscopies
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part III
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The quest for providing tissue characterization and functional mapping during minimally invasive surgery (MIS) has motivated the development of new surgical tools that extend the current functional capabilities of MIS. Miniaturized optical probes can be inserted into the instrument channel of standard endoscopes to reveal tissue cellular and subcellular microstructures, allowing excision-free optical biopsy. One of the limitations of such a point based imaging and tissue characterization technique is the difficulty of tracking probed sites in vivo. This prohibits large area surveillance and integrated functional mapping. The purpose of this paper is to present an image-based tracking framework by combining a semi model-based instrument tracking method with vision-based simultaneous localization and mapping. This allows the mapping of all spatio-temporally tracked biopsy sites, which can then be re-projected back onto the endoscopic video to provide a live augmented view in vivo, thus facilitating re-targeting and serial examination of potential lesions. The proposed method has been validated on phantom data with known ground truth and the accuracy derived demonstrates the strength and clinical value of the technique. The method facilitates a move from the current point based optical biopsy towards large area multi-scale image integration in a routine clinical environment.