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

L. Maier-Hein, P. Mountney, A. Bartoli, H. Elhawary, D. Elson, A. Groch, A. Kolb, M. Rodrigues, J. Sorger, S. Speidel, D. Stoyanov
2013 Medical Image Analysis  
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  ...  One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues.  ...  Acknowledgements The authors would like to acknowledge the Royal Academy of Engineering/EPSRC Research Fellowship and the German Research Foundation (DFG, PD 15577 and Research Training Group 1126) for  ... 
doi:10.1016/ pmid:23837969 fatcat:44gqmq6ms5f2ril4xrn574eljq

From medical images to minimally invasive intervention: Computer assistance for robotic surgery

Su-Lin Lee, Mirna Lerotic, Valentina Vitiello, Stamatia Giannarou, Ka-Wai Kwok, Marco Visentini-Scarzanella, Guang-Zhong Yang
2010 Computerized Medical Imaging and Graphics  
This paper describes key technical considerations of tissue deformation tracking, 3D reconstruction, subject-specific modeling, image guidance and augmented reality for robotic assisted minimally invasive  ...  Some of the recent trends are discussed in terms of instrument design and the usage of dynamic active constraints and human-robot perceptual docking for robotic assisted minimally invasive surgery.  ...  International Journal of Computer Vision for optimizing single and dynamic MRFs: setting the state of the art with primaldual strategies.  ... 
doi:10.1016/j.compmedimag.2009.07.007 pmid:19699056 fatcat:bby32m73fjev3hd6ns55m4mvde

PLUS: Open-Source Toolkit for Ultrasound-Guided Intervention Systems

Andras Lasso, Tamas Heffter, Adam Rankin, Csaba Pinter, Tamas Ungi, Gabor Fichtinger
2014 IEEE Transactions on Biomedical Engineering  
PLUS provides a variety of methods for interventional tool pose and ultrasound image acquisition from a wide range of tracking and imaging devices, spatial and temporal calibration, volume reconstruction  ...  A variety of advanced image analysis methods have been under development for ultrasoundguided interventions.  ...  Acknowledgments The authors wish to thank the students and staff engineers at Queen's University, University of British Columbia, and Robarts Research Institute for their contribution to the toolkit.  ... 
doi:10.1109/tbme.2014.2322864 pmid:24833412 pmcid:PMC4437531 fatcat:6xa7pimevbaarebxbza3kzqzvy

Image-Aligned Dynamic Liver Reconstruction Using Intra-Operative Field of Views for Minimal Invasive Surgery

Muhammad Nadeem Cheema, Anam Nazir, Bin Sheng, Ping Li, Jing Qin, Jinman Kim, David Dagan Feng
2019 IEEE Transactions on Biomedical Engineering  
The reconstructed liver will assist surgeons to visualize liver surface more efficiently with better depth perception.  ...  We propose an efficient technique for liver surface reconstruction based on the structure from motion to handle liver deformation.  ...  The elementary limitation of the state-ofthe-art for surface-based approaches is incompleteness of the reconstructed surface [26] .  ... 
doi:10.1109/tbme.2018.2884319 pmid:30507524 fatcat:rvmg2wygwbh2zeqwyxfhv2vjbu

Towards Live Monocular 3D Laparoscopy Using Shading and Specularity Information [chapter]

Toby Collins, Adrien Bartoli
2012 Lecture Notes in Computer Science  
We present steps towards the first real-time system for computing and visualising 3D surfaces viewed in live monocular laparoscopy video.  ...  We have evaluated using real laparoscopic videos with ground-truth, and we present the successful in-vivo reconstruction of the human uterus.  ...  Currently, state-of-the-art methods for acquiring 3D information differ along two main axes; (i) the sensor hardware used to estimate 3D, and (ii) the visual cue used to infer 3D shape. 3D reconstruction  ... 
doi:10.1007/978-3-642-30618-1_2 fatcat:q4mizgqpwfdzbevhpq4tjkyafq

3D Surface Reconstruction of Organs Using Patient-Specific Shape Priors in Robot-Assisted Laparoscopic Surgery [chapter]

Alborz Amir-Khalili, Jean-Marc Peyrat, Ghassan Hamarneh, Rafeef Abugharbieh
2013 Lecture Notes in Computer Science  
This high resolution intra-operative imaging modality enables the reconstruction of 3D soft-tissue surface geometry with the help of computer vision techniques.  ...  With the advent of robot-assisted laparoscopic surgery (RALS), intra-operative stereo endoscopy is becoming a ubiquitous imaging modality in abdominal interventions.  ...  Abdulla Al Ansari (chairman of surgery at Hammad Medical Corporation) and Dr. Osama Al-Alao for their assistance with the data acquisition.  ... 
doi:10.1007/978-3-642-41083-3_21 fatcat:o7omv3ruwjfwhj2afzc7fntdzq

Variational Formulation of the Template-Based Quasi-Conformal Shape-from-Motion from Laparoscopic Images

Abed Malti
2014 International Journal of Advanced Computer Science and Applications  
State-of-the-art methods assume that the environment can be modeled as an isometric developable surface: one which deforms isometrically to a plane.  ...  One of the current limits of laparosurgery is the absence of a 3D sensing facility for standard monocular laparoscopes.  ...  The experimental results show the effectiveness of our approach and clearly improve the state-of-the-art isometric reconstruction method.  ... 
doi:10.14569/ijacsa.2014.050323 fatcat:pr4vkbbepzfglnpaqxnzoyskaq

Surface reconstruction for planning and navigation of liver resections

Rafael Palomar, Faouzi A. Cheikh, Bjørn Edwin, Azeddine Beghdadhi, Ole J. Elle
2016 Computerized Medical Imaging and Graphics  
Computer-assisted systems for planning and navigation of liver resection procedures rely on the use of patient-specific 3D geometric models obtained from computed tomography.  ...  Validation of our results is performed via comparison with 3D models obtained by state-of-art Marching Cubes incorporating Laplacian smoothing and decimation (MCSD).  ...  with the state-of-the-art MCSD.  ... 
doi:10.1016/j.compmedimag.2016.07.003 pmid:27490316 fatcat:mdjihsxapjcbpdeekddrv53ghi

Dense soft tissue 3D reconstruction refined with super-pixel segmentation for robotic abdominal surgery

Veronica Penza, Jesús Ortiz, Leonardo S. Mattos, Antonello Forgione, Elena De Momi
2015 International Journal of Computer Assisted Radiology and Surgery  
Conclusion: Both methods give results that compare favourably with the state-of-the-art methods.  ...  Methods: Two methods for soft tissue 3D reconstruction are proposed: Method 1 follows the traditional approach of the block matching algorithm.  ...  Acknowledgements Authors would like to thank Nikhil Deshpande for his kind suggestions and support during the elaboration of this paper.  ... 
doi:10.1007/s11548-015-1276-0 pmid:26410837 fatcat:iq6hmoekr5e5lkxwhalql7xt2u

Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations

Matthias Baumhauer, Marco Feuerstein, Hans-Peter Meinzer, J. Rassweiler
2008 Journal of endourology  
Furthermore, this article provides the reader with new trends and technologies in the area of computer assisted surgery.  ...  In order to establish a computer aided workflow from diagnosis to surgical treatment and follow-up, several proposals for computer assisted soft tissue interventions have been made in recent years.  ...  But also in software development, the public availability of state-of-the-art methods is crucial.  ... 
doi:10.1089/end.2007.9827 pmid:18366319 fatcat:fvyhltppfvap7f4i3podtx3o7a

SLAM-based dense surface reconstruction in monocular Minimally Invasive Surgery and its application to Augmented Reality

Long Chen, Wen Tang, Nigel W. John, Tao Ruan Wan, Jian Jun Zhang
2018 Computer Methods and Programs in Biomedicine  
Methods A state-of-the-art Simultaneous Localization And Mapping (SLAM) algorithm used in robotics has been extended to deal with monocular MIS surgical scenes for reliable endoscopic camera tracking and  ...  The 3D surface reconstruction framework employs the Moving Least Squares (MLS) smoothing algorithm and the Poisson surface reconstruction framework for real time processing of the point clouds data set  ...  ORB-SLAM combines many state-of-the-art techniques into one SLAM system, such as using an ORB descriptor [40] for tracking, local keyframe for mapping, graph-based optimization, the Bag of Words algorithm  ... 
doi:10.1016/j.cmpb.2018.02.006 pmid:29544779 fatcat:v4bhbs7wzzej7pifadeffhwzqm

Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction

L. Maier-Hein, A. Groch, A. Bartoli, S. Bodenstedt, G. Boissonnat, P.-L. Chang, N. T. Clancy, D. S. Elson, S. Haase, E. Heim, J. Hornegger, P. Jannin (+11 others)
2014 IEEE Transactions on Medical Imaging  
To address these issues, we have formed a joint international initiative with the aim of validating different state-of-the-art passive and active reconstruction methods in a comparative manner.  ...  Different optical techniques for 3D surface reconstruction in laparoscopy have been proposed, however, so far no quantitative and comparative validation has been performed.  ...  Many thanks also go to Martina Jochim (Department of Radiology, DKFZ) and Alfred Franz (Computerassisted Interventions, DKFZ) for helping with the data acquisition and processing.  ... 
doi:10.1109/tmi.2014.2325607 pmid:24876109 fatcat:4sk6eieiefb2pb7yduilo57qru

Computer mediated reality technologies: A conceptual framework and survey of the state of the art in healthcare intervention systems

Zear Ibrahim, Arthur G. Money
2019 Journal of Biomedical Informatics  
If this vision is to become a reality, it is crucial that state of the art research focuses efforts on the development of applications that support the delivery of patient-centred self-care interventions  ...  The UK government, in partnership with the European Commission's Vision for 2020, propose a paradigm shift towards the delivery of more patient-centred self-care interventions, facilitated by novel ubiquitous  ...  of the state of the art in CMRT applications for healthcare.  ... 
doi:10.1016/j.jbi.2019.103102 pmid:30641140 fatcat:5ssv6ufa7vculjy6vwjfujefga

Computer Assistance in the Minimally Invasive Ablation Treatment of Pancreatic Cancer [chapter]

Benjamin Eigl, Andreas Andreou, Matthias Peterhans, Stefan Weber, Beat Gloor
2020 Pancreatic Cancer [Working Title]  
The application of computer-assisted needle navigation for pancreatic cancer ablation holds the prospect to make the procedure more reproducible and safer.  ...  Computer-assisted surgery has shown its potential in different fields of applications to improve the targeting of diseased tissue and the confidence of the medical professional.  ...  Matthias Peterhans is the CSO and cofounder of CAScination. Stefan Weber is CEO and cofounder of CAScination.  ... 
doi:10.5772/intechopen.93226 fatcat:n72sm3hylbfazl2ampv3glh5gq

Designing a New Endoscope for Panoramic-View with Focus-Area 3D-Vision in Minimally Invasive Surgery

Dinh Thai Kim, Ching-Hwa Cheng, Don-Gey Liu, Kai Che Jack Liu, Wayne Shih Wei Huang
2019 Journal of Medical and Biological Engineering  
Conclusion The proposed system can provide a more efficient way for the doctors with a broad area of view while still providing a 3D surface image in real-time applications.  ...  Moreover, our approach employed the same functions on reconstructing 3D surface images by calculating the overlap region's disparity and performing image stitching with the two-view images from both the  ...  The alignment error for the proposed method was smaller than those for SURF. Run Time Comparison We evaluated the computational time for both the methods.  ... 
doi:10.1007/s40846-019-00503-9 fatcat:3wzkw56oezghtcxqx6t47tcw2u
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