Soft-Tissue Motion Tracking and Structure Estimation for Robotic Assisted MIS Procedures

Stoyanov, Danail; Mylonas, George P.; Deligianni, Fani; Darzi, Ara; Yang, Guang

doi:10.1007/11566489_18

Cited by 114 publications

(99 citation statements)

References 15 publications

(15 reference statements)

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“…This method has been used for registering endoscopic video images to biomechanical models of the liver. Another technique also operating at near real-time frame rates that uses local optimization to propagate disparity information around correspondence seeds obtained using feature matching as developed in (Stoyanov et al, 2005b) has also been shown to perform well for endoscopic images . This method has the desirable property of ignoring regions with highlights, occlusions or high uncertainty and has also recently been extended to recover temporal motion as well as 3D shape (Stoyanov, 2012a).…”

Section: Application To Laparoscopymentioning

confidence: 99%

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Maier-Hein

Mountney

Bartoli

et al. 2013

Medical Image Analysis

242

130

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One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon's navigation capabilites by observing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted instruments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D optical imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions.

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Section: Application To Laparoscopymentioning

confidence: 99%

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Maier-Hein

Mountney

Bartoli

et al. 2013

Medical Image Analysis

242

130

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“…Optical techniques for laparoscopic 3-D surface reconstruction can roughly be divided into two categories [47]. Passive methods, such as stereoscopy [48]), shape-from-shading [49], shape-from-motion (SfM) [50], and simultaneous localization and mapping (SLAM) [51] need only endoscopic RGB images as input. Active methods, such as structured light [52,53] and ToF require controlled light to be projected into the environment.…”

Section: -D Endoscopy For Minimally Invasive Proceduresmentioning

confidence: 99%

Real-Time Range Imaging in Health Care: A Survey

Bauer

Seitel

Hofmann³

et al. 2013

Lecture Notes in Computer Science

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Abstract. The recent availability of dynamic, dense, and low-cost range imaging has gained widespread interest in health care. It opens up new opportunities and has an increasing impact on both research and commercial activities. This chapter presents a state-of-the-art survey on the integration of modern range imaging sensors into medical applications. The scope is to identify promising applications and methods, and to provide an overview of recent developments in this rapidly evolving domain. The survey covers a broad range of topics, including guidance in computer-assisted interventions, operation room monitoring and workflow analysis, touch-less interaction and on-patient visualization, as well as prevention and support in elderly care and rehabilitation. We put emphasis on dynamic and interactive tasks where real-time and dense 3-D imaging forms the key aspect. While considering different range imaging modalities that fulfill these requirements, we particularly investigate the impact of Time-of-Flight imaging in this domain. Eventually, we discuss practical demands and limitations, and open research issues and challenges that are of fundamental importance for the progression of the field.

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“…However, this method is only applied for 2D tracking without extraction of depth information. Tracking the heart motion in stereo endoscopic beating heart sequences is proposed in [7][8][9][10]. However, these approaches are sensitive to visual artifacts and variations in illumination.…”

Section: Related Workmentioning

confidence: 99%

Efficient physics-based tracking of heart surface motion for beating heart surgery robotic systems

2010

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Purpose Tracking of beating heart motion in a robotic surgery system is required for complex cardiovascular interventions. Methods A heart surface motion tracking method is developed, including a stochastic physics-based heart surface model and an efficient reconstruction algorithm. The algorithm uses the constraints provided by the model that exploits the physical characteristics of the heart. The main advantage of the model is that it is more realistic than most standard heart models. Additionally, no explicit matching between the measurements and the model is required. The application of meshless methods significantly reduces the complexity of physics-based tracking. Results Based on the stochastic physical model of the heart surface, this approach considers the motion of the intervention area and is robust to occlusions and reflections. The tracking algorithm is evaluated in simulations and experiments on an artificial heart. Providing higher accuracy than the standard model-based methods, it copes successfully with occlusions and provides high performance when all measurements are not available. Conclusions Combining the physical and stochastic description of the heart surface motion ensures physically correct and accurate prediction. Automatic initialization of the physics-based cardiac motion tracking enables system evaluation in a clinical environment.

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Soft-Tissue Motion Tracking and Structure Estimation for Robotic Assisted MIS Procedures

Cited by 114 publications

References 15 publications

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Real-Time Range Imaging in Health Care: A Survey

Efficient physics-based tracking of heart surface motion for beating heart surgery robotic systems

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