Soft Tissue Tracking for Minimally Invasive Surgery: Learning Local Deformation Online
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Non-rigid Reconstruction of the Beating Heart Surface for Minimally Invasive Cardiac Surgery
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
A stereoscopic fibroscope for camera motion and 3D depth recovery during minimally invasive surgery
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
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
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
IPCAI'11 Proceedings of the Second international conference on Information processing in computer-assisted interventions
Towards live monocular 3d laparoscopy using shading and specularity information
IPCAI'12 Proceedings of the Third international conference on Information Processing in Computer-Assisted Interventions
Tissue deformation recovery with gaussian mixture model based structure from motion
AE-CAI'11 Proceedings of the 6th international conference on Augmented Environments for Computer-Assisted Interventions
Stereoscopic scene flow for robotic assisted minimally invasive surgery
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
A comparative study of correspondence-search algorithms in MIS images
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
3D reconstruction in laparoscopy with close-range photometric stereo
MICCAI'12 Proceedings of the 15th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part II
An implicit inter-subject shape driven image deformation model for prostate motion estimation
MICCAI'12 Proceedings of the 4th international conference on Abdominal Imaging: computational and clinical applications
| Hi-index | 0.00 |
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.