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Intraoperative on-the-fly organ-mosaicking for laparoscopic surgery

S. Bodenstedt, D. Reichard, S. Suwelack, M. Wagner, H. Kenngott, B. Müller-Stich, R. Dillmann, S. Speidel, Robert J. Webster, Ziv R. Yaniv
2015 Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling  
Laparoscopic sensors, such as stereo endoscopes, can be used to create a three-dimensional reconstruction of stereo frames for registration.  ...  The results indicate that the proposed method is promising for on-the-fly organ reconstruction and registration.  ...  All animals were treated in compliance with the National Research Council's criteria for humane care as described in the Guide for the Care and Use of Laboratory Animals prepared by the National Institutes  ... 
doi:10.1117/12.2081888 dblp:conf/miigp/BodenstedtRSWKM15 fatcat:k4phcppqhjennbuhoxzqtznnui

Intraoperative on-the-fly organ-mosaicking for laparoscopic surgery

Daniel Reichard, Sebastian Bodenstedt, Stefan Suwelack, Benjamin Mayer, Anas Preukschas, Martin Wagner, Hannes Kenngott, Beat Müller-Stich, Rüdiger Dillmann, Stefanie Speidel
2015 Journal of Medical Imaging  
Laparoscopic sensors, such as stereo endoscopes, can be used to create a three-dimensional reconstruction of stereo frames for registration.  ...  The results indicate that the proposed method is promising for on-the-fly organ reconstruction and registration.  ...  All animals were treated in compliance with the National Research Council's criteria for humane care as described in the Guide for the Care and Use of Laboratory Animals prepared by the National Institutes  ... 
doi:10.1117/1.jmi.2.4.045001 pmid:26693166 pmcid:PMC4675173 fatcat:iowsukzmubhefcdybepezwaz7y

Online temporal synchronization of pose and endoscopic video streams

Özgür Güler, Ziv Yaniv, Wolfgang Freysinger, Kenneth H. Wong, David R. Holmes III
2011 Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling  
Computer assisted navigation systems that combine real-time endoscopy images with pre-operative volumetric data sets aim at improving the physician's understanding of the underlying anatomical structures  ...  This type of approach assumes a constant latency between the data streams and is less desirable for clinical use due to the required additional hardware.  ...  We are currently investigating the use of tracked endoscopic video as a means for intraoperative surface acquisition.  ... 
doi:10.1117/12.877720 dblp:conf/miigp/GulerYF11 fatcat:n66wubbq5zfytk4ebfvnxk3muq

Endoscopy-MR Image Fusion for Image Guided Procedures

Anwar Abdalbari, Xishi Huang, Jing Ren
2013 International Journal of Biomedical Imaging  
In this paper, we propose a rapid and accurate method to align intraoperative stereo endoscopic images of the surgical site with preoperative Magnetic Resonance (MR) images.  ...  The purpose of this surface-based registration is to provide 3D context of the surgical site to the endoscopic view.  ...  James Drake, Thomas Looi, and other members at CIGITI in the Hospital for Sick Children for the valuable assistance and support.  ... 
doi:10.1155/2013/472971 pmid:24298281 pmcid:PMC3835800 fatcat:v4jhjqyhhrerpftl2dtlej7fhm

Towards multi-modal image-guided tumour identification in robot-assisted partial nephrectomy

Ghassan Hamarneh, Alborz Amir-Khalili, Masoud S. Nosrati, Ivan Figueroa, Jeremy Kawahara, Osama Al-Alao, Jean-Marc Peyrat, Julien Abi-Nahed, Abdulla Al-Ansari, Rafeef Abugharbieh
2014 2nd Middle East Conference on Biomedical Engineering  
We present herein the progress of this research work including segmentation of preoperative scans, biomechanical simulation of deformations, stereo surface reconstruction from stereo endoscopic camera,  ...  To help the surgeon in achieving this step, our research work aims at leveraging both pre-and intra-operative imaging modalities (CT, MRI, laparoscopic US, stereo endoscopic video) to provide an augmented  ...  ACKNOWLEDGMENT This work was supported by NPRP Grant #4-161-2-056 from the Qatar National Research Fund (a member of the Qatar Foundation).  ... 
doi:10.1109/mecbme.2014.6783230 fatcat:2s67dgex5zbdrmqnios4pda3ku

Augmented reality image guidance for minimally invasive coronary artery bypass

Michael Figl, Daniel Rueckert, David Hawkes, Roberto Casula, Mingxing Hu, Ose Pedro, Dong Ping Zhang, Graeme Penney, Fernando Bello, Philip Edwards, Michael I. Miga, Kevin R. Cleary
2008 Medical Imaging 2008: Visualization, Image-guided Procedures, and Modeling  
We can then take the heart surface from the motion model and register it to the stereo-endoscopic images of the da Vinci robot using 2D-3D registration methods.  ...  We propose a novel system for image guidance in totally endoscopic coronary artery bypass (TECAB).  ...  For augmentation of the endoscopic view we use video mixers, which does not introduce any lag to the surgeons view of the real surface.  ... 
doi:10.1117/12.774788 dblp:conf/miigp/FiglRHCHPZPBE08 fatcat:cylpbqnytfhnniqihjhpkff4xu

Automatic Alignment of Pre and Intraoperative Data Using Anatomical Landmarks for Augmented Laparoscopic Liver Surgery [chapter]

Rosalie Plantefève, Nazim Haouchine, Jean-Pierre Radoux, Stephane Cotin
2014 Lecture Notes in Computer Science  
Our registration method relies on anatomical landmarks extracted from both the laparoscopic images and three-dimensional model, using an image-based soft-tissue reconstruction technique and an atlas-based  ...  The registration evolves automatically from a quasi-rigid to a non-rigid registration. Furthermore, the surface-driven deformation is induced in the volume via a patient specific biomechanical model.  ...  Acknowledgement The authors would like to thank the anonymous reviewers for their valuable comments and suggestions and Igor Peterlik for his thorough re-reading of this article.  ... 
doi:10.1007/978-3-319-12057-7_7 fatcat:62vuaf534nbp5g6dihmxfza33q

The Future of Endoscopic Navigation: A Review of Advanced Endoscopic Vision Technology

Zuoming Fu, Ziyi Jin, Chongan Zhang, Zhongyu He, Zhenzhou Zha, Chunyong Hu, Tianyuan Gan, Qinglai Yan, Peng Wang, Xuesong Ye
2021 IEEE Access  
Multiple endoscopic optical imaging modalities provide data sources for endoscopic vision technology, including white-light endoscopy, contrast-enhanced imaging and technologies involving magnified observation  ...  Although these technologies have been applied to various clinical and pre-clinical diagnoses and treatments, the use and combination of these advanced technologies in endoscopic navigation system for specific  ...  Xiao Liang at Sir Run-Run Shaw Hospital, Hangzhou, China, for helping inspire the development of experiments and this article.  ... 
doi:10.1109/access.2021.3065104 fatcat:nprqk4gjhnhbrjvfbrqouoee6y

Framework for augmented reality in Minimally Invasive laparoscopic surgery

Bruno Marques, Rosalie Plantefeve, Frederick Roy, Nazim Haouchine, Emmanuel Jeanvoine, Igor Peterlik, Stephane Cotin
2015 2015 17th International Conference on E-health Networking, Application & Services (HealthCom)  
From stereoscopic images a three dimensional point cloud is reconstructed in real-time.  ...  This point cloud is then used to register a patient-specific biomechanical model derived from Computed Tomography images onto the laparoscopic view.  ...  In order to align this pre-operative liver model onto the intraoperative data we use 1) a reconstruction of a three-dimensional point cloud from the stereo-endoscopic camera view, and 2) a multi-step registration  ... 
doi:10.1109/healthcom.2015.7454467 dblp:conf/healthcom/MarquesRHJCPP15 fatcat:fncamwyjlzdi7mfttkp6apg6s4

Flexible Calibration of Actuated Stereoscopic Endoscope for Overlay in Robot Assisted Surgery [chapter]

Fabien Mourgues, Éve Coste-Maniére
2002 Lecture Notes in Computer Science  
Nevertheless, the surgeon is still suffering from the restricted vision of the operating field through the endoscope. We thus propose to augment the endoscopic images with preoperative data.  ...  We present quantitative experimental calibration results with the da Vinci TM surgical system, as well as the use of these results to initialise the overlay of endoscopic images of a plastic heart with  ...  Acknowledgements Thierry Vieville and Olivier Faugeras are gratefully acknowledged for some fruitful ideas during the development of this work.  ... 
doi:10.1007/3-540-45786-0_4 fatcat:2ldmsbilxfdltlgtgha2kwzqoa

Toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model

Yuanzheng Gong, Danying Hu, Blake Hannaford, Eric J. Seibel, Robert J. Webster, Ziv R. Yaniv
2015 Medical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling  
From these preliminary results, computation efficiency of the algorithm in MATLAB code is near real-time (2.5 sec for each estimation of pose), which can be improved by implementation in C++.  ...  as focal length; and 3) any endoscopic image distortion from scanning irregularities.  ...  The registration between endoscopic image and pre-reconstructed 3D model is performed.  ... 
doi:10.1117/12.2082872 pmid:25821389 pmcid:PMC4376325 dblp:conf/miigp/GongHHS15 fatcat:5g7x4vmta5djnflc3uuvsqlire

Augmented Reality in Neurosurgery: A Review of Current Concepts and Emerging Applications

Daipayan Guha, Naif M. Alotaibi, Nhu Nguyen, Shaurya Gupta, Christopher McFaul, Victor X.D. Yang
2017 Canadian Journal of Neurological Sciences  
Nevertheless, the ability to accurately display multiple three-dimensional datasets congruently over the area where they are most useful, coupled with future advances in imaging, registration, display  ...  Augmented reality (AR) superimposes computer-generated virtual objects onto the user's view of the real world.  ...  been removed. 51 Recent advancements in surgical navigation include real-time registration updates from intraoperative 3D ultrasound, accounting for brain shift on a time scale on the order of minutes  ... 
doi:10.1017/cjn.2016.443 pmid:28434425 fatcat:sbx3tciyqrhdbk3qhxesmznnde

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

Danail Stoyanov, George P. Mylonas, Fani Deligianni, Ara Darzi, Guang Zhong Yang
2005 Lecture Notes in Computer Science  
The movement of the 3D points is then tracked in the stereo images with stereo-temporal constrains by using an iterative registration algorithm.  ...  In this paper, we present a novel method for feature based motion tracking of deformable soft-tissue surfaces in totally endoscopic coronary artery bypass graft (TECAB) surgery.  ...  Acknowledgements The authors thank Eddy Kavanagh, Danny Sharpe and Bob Pullen for their valuable help and Roberto Casula for kindly providing the in vivo data used in this study.  ... 
doi:10.1007/11566489_18 fatcat:w2zjrmoh7rcr5dzpo2qgjvm3ka

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  
A critical process involves the intraoperative acquisition of tissue surfaces. It can be achieved using stereoscopic imaging and 3D reconstruction techniques.  ...  This work contributes to this process by proposing new methods for improved dense 3D reconstruction of soft tissues, which allows a more accurate deformation identification and facilitates the registration  ...  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

Active illumination based 3D surface reconstruction and registration for image-guided medialization laryngoplasty

Ge Jin, Sang-Joon Lee, James K. Hahn, Steven Bielamowicz, Rajat Mittal, Raymond Walsh, Kevin R. Cleary, Michael I. Miga
2007 Medical Imaging 2007: Visualization and Image-Guided Procedures  
To accurately model the exposed surface area, a structured light based stereo vision technique is used for the surface reconstruction.  ...  In this paper, we present a combined surface and fiducial based registration method to register the preoperative 3D CT data to the intraoperative surface of larynx.  ...  Multi-pass dynamic programming for surface reconstruction In ICP based point clouds registration, the computation time for kd-tree construction is 94 ms.  ... 
doi:10.1117/12.709612 dblp:conf/miigp/JinLHBMW07 fatcat:c6b6jm2kkfha5p5qeo34u5dw6i
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