Physics‐based shape matching for intraoperative image guidance

Suwelack, Stefan; Röhl, Sebastian; Bodenstedt, Sebastian; Reichard, Daniel; Dillmann, Rüdiger; Santos, Thiago dos; Maier-Hein, Lena; Wagner, Martin; Wünscher, J. J.; Kenngott, Hannes; Müller, Beat; Speidel, Stefanie

doi:10.1118/1.4896021

Cited by 78 publications

(56 citation statements)

References 34 publications

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“…Similarly as 110 in [6], we consider the registration as a dynamic process. This avoids having to set Dirichlet boundary conditions such that the stiness matrix is invertible.…”

Section: Registration Methodsmentioning

confidence: 99%

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Intraoperative Biomechanical Registration of the Liver: Does the Heterogeneity of the Liver Matter?

Plantefève

Cotin

2018

IRBM

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Background:Preoperative images such as computed tomography scans or magnetic resonance imaging contain lots of valuable information that are not easily available for surgeons during an operation. To help the clinicians better target the structures of interest during an intervention, many registration methods that align preoperative images onto the intraoperative view of the organs have been developed. For important organ deformation, biomechanically-based registration has proven to be a method of choice. Method:Using an existing biomechanically-based registration algorithm for laparoscopic liver surgery we investigate in this paper the inuence of the heterogeneity of the liver on the registration result. Results:Conclusion:

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“…Similarly as 110 in [6], we consider the registration as a dynamic process. This avoids having to set Dirichlet boundary conditions such that the stiness matrix is invertible.…”

Section: Registration Methodsmentioning

confidence: 99%

“…Indeed, this type of method is able to handle large organ deformation even with a limited amount of intraoperative data [6]. Intraoperative information is particularly limited during laparoscopic liver tumor resection (see 15 Fig.…”

mentioning

confidence: 99%

Intraoperative Biomechanical Registration of the Liver: Does the Heterogeneity of the Liver Matter?

Plantefève

Cotin

2018

IRBM

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“…14,16,38 Physically-based elastic models have proven to be relevant for volume deformation tracking since they permit to estimate the in-depth motion from surface deformation. In, 30 a 4D scan of the heart is coupled with a biomechanical model.…”

Section: Introductionmentioning

confidence: 99%

Patient-Specific Biomechanical Modeling for Guidance During Minimally-Invasive Hepatic Surgery

Plantefève

Peterlík²,

Haouchine³

et al. 2015

Ann Biomed Eng

109

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During the minimally-invasive liver surgery, only the partial surface view of the liver is usually provided to the surgeon via the laparoscopic camera. Therefore, it is necessary to estimate the actual position of the internal structures such as tumors and vessels from the pre-operative images. Nevertheless, such task can be highly challenging since during the intervention, the abdominal organs undergo important deformations due to the pneumoperitoneum, respiratory and cardiac motion and the interaction with the surgical tools. Therefore, a reliable automatic system for intra-operative guidance requires fast and reliable registration of the pre- and intra-operative data. In this paper we present a complete pipeline for the registration of pre-operative patient-specific image data to the sparse and incomplete intra-operative data. While the intra-operative data is represented by a point cloud extracted from the stereo-endoscopic images, the pre-operative data is used to reconstruct a biomechanical model which is necessary for accurate estimation of the position of the internal structures, considering the actual deformations. This model takes into account the patient-specific liver anatomy composed of parenchyma, vascularization and capsule, and is enriched with anatomical boundary conditions transferred from an atlas. The registration process employs the iterative closest point technique together with a penalty-based method. We perform a quantitative assessment based on the evaluation of the target registration error on synthetic data as well as a qualitative assessment on real patient data. We demonstrate that the proposed registration method provides good results in terms of both accuracy and robustness w.r.t. the quality of the intra-operative data.

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“…Patient-specific biomechanical models have demonstrated their relevance for volume deformation, as they allow to account for anisotropic and elastic properties of the shape and to infer in-depth structure motion [2], [3]. In [4], a 4D scan of the heart is jointly used with a biomechanical model to couple the surface motion with external forces derived from camera data.…”

Section: Introductionmentioning

confidence: 99%

“…In the context of augmented reality for liver surgery, [3] used a heterogeneous model that takes into account the vascular network to improve the soft tissue behavior while real-time performance is obtained using adequate mesh resolution and pre-computed solvers. In [2], a physics-based shape matching approach is proposed. Non-rigid registration between the pre-operative elastic model and the intra-operative organ shape is modeled as an electrostatic-elastic problem.…”

Section: Introductionmentioning

confidence: 99%