Least-Squares Fitting of Two 3-D Point Sets
IEEE Transactions on Pattern Analysis and Machine Intelligence
Virtual Reality and Augmented Reality in Digestive Surgery
ISMAR '04 Proceedings of the 3rd IEEE/ACM International Symposium on Mixed and Augmented Reality
A low cost and accurate guidance system for laparoscopic surgery: validation on an abdominal phantom
Proceedings of the ACM symposium on Virtual reality software and technology
A complete augmented reality guidance system for liver punctures: first clinical evaluation
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
A Real-Time Predictive Simulation of Abdominal Organ Positions Induced by Free Breathing
ISBMS '08 Proceedings of the 4th international symposium on Biomedical Simulation
Cardiolock2: parallel singularities for the design of an active heart stabilizer
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Clinical evaluation of a respiratory gated guidance system for liver punctures
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
In vivo tracking of 3D organs using spherical harmonics and subspace clustering
ICIP'09 Proceedings of the 16th IEEE international conference on Image processing
Computer Methods and Programs in Biomedicine
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In this paper we present a new method to predict in real time from a preoperative CT image the internal organ motions of a patient induced by his breathing. This method only needs the segmentation of the bones, viscera and lungs in the preoperative image and a tracking of the patient skin motion. Prediction of internal organ motions is very important for radiotherapy since it can allow to reduce the healthy tissue irradiation. Moreover, guiding system for punctures in interventional radiology would reduce significantly their guidance inaccuracy. In a first part, we analyse physically the breathing motion and show that it is possible to predict internal organ motions from the abdominal skin position. Then, we propose an original method to compute from the skin position a deformation field to the internal organs that takes mechanical properties of the breathing into account. Finally, we show on human data that our simulation model can provide a prediction of several organ positions (liver, kidneys, lungs) at 14 Hz with an accuracy within 7 mm