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Video-based 3D reconstruction, laparoscope localization and deformation recovery for abdominal minimally invasive surgery: a survey

Bingxiong Lin, Yu Sun, Xiaoning Qian, Dmitry Goldgof, Richard Gitlin, Yuncheng You
2015 International Journal of Medical Robotics and Computer Assisted Surgery  
First, as fundamental tasks in 3D reconstruction and laparoscope localization, feature detection and feature tracking methods are discussed.  ...  The intra-operative three-dimensional (3D) structure of tissue organs and laparoscope motion are the basis for many tasks in computerassisted surgery (CAS), such as safe surgical navigation and registration  ...  Feature detection and feature tracking Image feature detection and feature tracking are fundamental steps in many applications, such as structure and pose estimation, deformation recovery and augmented  ... 
doi:10.1002/rcs.1661 pmid:25931190 fatcat:mlbmwiklmrcmjojendit3ve3qu

Robust Intraoperative US Probe Tracking Using a Monocular Endoscopic Camera [chapter]

Uditha L. Jayarathne, A. Jonathan McLeod, Terry M. Peters, Elvis C. S. Chen
2013 Lecture Notes in Computer Science  
We describe an Extended Kalman Filter framework that solves for both the feature correspondence and pose estimation, and is able to track a 3D pattern on the surface of the ultrasound probe in near real-time  ...  This approach requires only cosmetic modification to the ultrasound probe and obviates the need for magnetic tracking of either instrument.  ...  The authors thank Mohammad Ali Tavallaei and John Moore for their laboratory assistance.  ... 
doi:10.1007/978-3-642-40760-4_46 fatcat:b65jzaepmrbefet2ysbgefgysa

Image-based navigation for functional endoscopic sinus surgery using structure from motion

Simon Leonard, Austin Reiter, Ayushi Sinha, Masaru Ishii, Russell H. Taylor, Gregory D. Hager, Martin A. Styner, Elsa D. Angelini
2016 Medical Imaging 2016: Image Processing  
Functional Endoscopic Sinus Surgery (FESS) is a challenging procedure for otolaryngologists and is the main surgical approach for treating chronic sinusitis, to remove nasal polyps and open up passageways  ...  overlaying virtual structures on the endoscope images.  ...  The sequences generated an average of 910 3D points and the initial pose estimate for the TriICP was manually given.  ... 
doi:10.1117/12.2217279 pmid:29225400 pmcid:PMC5720359 dblp:conf/miip/LeonardRSITH16 fatcat:qbxfubrfarbeheedwowm3pybeu

Simultaneous Multi-Structure Segmentation and 3D Nonrigid Pose Estimation in Image-Guided Robotic Surgery

Masoud S. Nosrati, Rafeef Abugharbieh, Jean-Marc Peyrat, Julien Abinahed, Osama Al-Alao, Abdulla Al-Ansari, Ghassan Hamarneh
2016 IEEE Transactions on Medical Imaging  
More specifically, we estimate and track the pose of the preoperative models in 3D and consider the models' non-rigid deformations to match with corresponding visual cues in multi-channel endoscopic video  ...  The idea is to segment multiple poorly visible structures in the stereo/multichannel endoscopic videos by fusing reliable prior knowledge captured from the preoperative 3D scans.  ...  Our first synthetic test evaluates the pose recovery capabilities (robustness to initial pose) of our method.  ... 
doi:10.1109/tmi.2015.2452907 pmid:26151933 fatcat:md4wmct2avdq3ags3oxdiafy7y

Scale-invariant registration of monocular endoscopic images to CT-scans for sinus surgery

Darius Burschka, Ming Li, Masaru Ishii, Russell H. Taylor, Gregory D. Hager
2005 Medical Image Analysis  
In this paper, we present a novel method for intra-operative registration directly from monocular endoscopic images.  ...  A by-product of video registration is an estimate of the local surface structure of the anatomy, thus providing the opportunity to dynamically update anatomical models as the surgery progresses.  ...  Acknowledgments Partial funding of this research was provided by the National Science Foundation under Grants EEC9731748 (CISST ERC), IIS9801684, IIS0099770, and IIS0205318.  ... 
doi:10.1016/j.media.2005.05.005 pmid:16009593 fatcat:u43h3cx32fawxk36jw7vids2vm

Scale-Invariant Registratiou of Monocular Endoscopic Images to CT-Scans for Sinus Surgery [chapter]

Darius Burschka, Ming Li, Russell Taylor, Gregory D. Hager
2004 Lecture Notes in Computer Science  
In this paper, we present a novel method for intra-operative registration directly from monocular endoscopic images.  ...  A by-product of video registration is an estimate of the local surface structure of the anatomy, thus providing the opportunity to dynamically update anatomical models as the surgery progresses.  ...  Acknowledgments Partial funding of this research was provided by the National Science Foundation under Grants EEC9731748 (CISST ERC), IIS9801684, IIS0099770, and IIS0205318.  ... 
doi:10.1007/978-3-540-30136-3_51 fatcat:nh2edfc6d5dk5awte3kcfdplpu

Robust camera localisation with depth reconstruction for bronchoscopic navigation

Mali Shen, Stamatia Giannarou, Guang-Zhong Yang
2015 International Journal of Computer Assisted Radiology and Surgery  
It is shown that the proposed approach is more robust to illumination artefacts and surface texture and less sensitive to camera pose initialisation.  ...  Results The proposed depth-based tracking approach has been validated on both phantom and in vivo data.  ...  Research involving Human Participants and/or Animals: For this type of study formal consent is not required.  ... 
doi:10.1007/s11548-015-1197-y pmid:25903774 fatcat:fgyq544khngntnmu64azx4zt4u

SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes [article]

Juan J. Gómez Rodríguez, José Lamarca, Javier Morlana, Juan D. Tardós, José M. M. Montiel
2020 arXiv   pre-print
Bundle Adjustment for pose and deformable map estimation, and bag-of-words based on feature descriptors for camera relocation.  ...  Our results show that SD-DefSLAM outperforms DefSLAM in point tracking, reconstruction accuracy and scale drift thanks to the improvement in all the data association steps, being the first system able  ...  Left: features tracked in the endoscopic image using photometric techniques. Right: camera motion and growing deformable map estimated by minimizing geometric error.  ... 
arXiv:2010.09409v1 fatcat:4p752xhzvncnzgj3qcuhegi3bi

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  ...  This demonstrates the potential of our algorithm for accurate AR localization and depth augmentation with geometric cues and correct surface measurements in MIS with monocular endoscopes.  ...  SLAM-enabled systems make it possible to estimate the 3D structure of the MIS scene from a moving endoscope camera and simultaneously track the pose of the camera.  ... 
doi:10.1016/j.cmpb.2018.02.006 pmid:29544779 fatcat:v4bhbs7wzzej7pifadeffhwzqm

Toward Long-Term and Accurate Augmented-Reality for Monocular Endoscopic Videos

Gustavo A. Puerto-Souza, Jeffrey A. Cadeddu, Gian-Luca Mariottini
2014 IEEE Transactions on Biomedical Engineering  
In this paper, we present the design of a new AR system that represents a first step toward long term and accurate augmented surgical display for monocular (calibrated and uncalibrated) endoscopic videos  ...  Existing AR surgical systems lack in robustness and accuracy because of the many challenges in endoscopic imagery, such as frequent changes in illumination, rapid camera motions, prolonged organ occlusions  ...  In order to track image features (corners) among consecutive endoscopic video frames, we adopted the feature-tracking algorithm in [35] , which is robust to changes in illumination.  ... 
doi:10.1109/tbme.2014.2323999 pmid:24835126 fatcat:d4kgdz5vbvfo7m6kgjuzvmzuiu

Long Term Safety Area Tracking (LT-SAT) with online failure detection and recovery for robotic minimally invasive surgery

Veronica Penza, Xiaofei Du, Danail Stoyanov, Antonello Forgione, Leonardo S. Mattos, Elena De Momi
2018 Medical Image Analysis  
(0.7) and recall (0.8) values, and with a recovery time after a failure between 1 and 8 frames in the worst case.  ...  The purpose of this paper is to develop computer vision algorithms to robustly track soft tissue areas (Safety Area, SA), defined intra-operatively by the surgeon based on the real-time endoscopic images  ...  Acknowledgements Authors would like to thank Max Allan for his kind help during the recording of the videos used for the dataset, and the DVRK community and Intuitive Surgical for the DVRK data. 695  ... 
doi:10.1016/j.media.2017.12.010 pmid:29329053 fatcat:chru5yiy7zfd5cha4e4w4xdhpa

A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots

Mehmet Turan, Yasin Almalioglu, Helder Araujo, Ender Konukoglu, Metin Sitti
2017 International Journal of Intelligent Robotics and Applications  
In this paper, we propose to our knowledge for the first time in literature a visual simultaneous localization and mapping (SLAM) method specifically developed for endoscopic capsule robots.  ...  This is achieved by using dense frame-to-model camera tracking and windowed surfelbased fusion coupled with frequent model refinement through non-rigid surface deformations.  ...  reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.  ... 
doi:10.1007/s41315-017-0036-4 pmid:29250588 pmcid:PMC5727175 dblp:journals/ijira/TuranAAKS17 fatcat:iivmnub3irfrvgyjtgcl3sehni

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  
In robotically assisted laparoscopic surgery, soft-tissue motion tracking and structure recovery are important for intraoperative surgical guidance, motion compensation and delivering active constraints  ...  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

Sparse-then-dense alignment-based 3D map reconstruction method for endoscopic capsule robots

Mehmet Turan, Yusuf Yigit Pilavci, Ipek Ganiyusufoglu, Helder Araujo, Ender Konukoglu, Metin Sitti
2017 Machine Vision and Applications  
To the best of our knowledge, this framework is the first complete pipeline for an endoscopic capsule robot based 3D map reconstruction containing all of the necessary steps for a reliable and accurate  ...  endoscopic 3D map.  ...  reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.  ... 
doi:10.1007/s00138-017-0905-8 fatcat:fb5ikpqzjnd7zad2za2nig5pqm

Pose Estimation and Feature Tracking for Robot Assisted Surgery with Medical Imaging [chapter]

Christophe Doignon, Florent Nageotte, Benjamin Maurin, Alexandre Krupa
2008 Lecture Notes in Electrical Engineering  
Marescaux, Leroy, Soler and Gangi for their advices, as well as for the use of their facilities.  ...  The experimental part of this work has been made possible thanks to the collaboration with the Department of Radiology at the Strasbourg Hospital and the "Institut de Recherche contre les Cancers de l'Appareil  ...  Pose estimation and tracking with medical visual devices Pose estimation and tracking with medical visual devices Pose estimation and tracking with medical visual devices Pose estimation  ... 
doi:10.1007/978-0-387-75523-6_6 fatcat:6unzvpgfjnhdrl2x4scaias4dy
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