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. We combine two feature detectors to recover distinct regions on the epicardial surface for which the sparse 3D
more » ... geometry may be computed using a pre-calibrated stereo laparoscope. The movement of the 3D points is then tracked in the stereo images with stereo-temporal constrains by using an iterative registration algorithm. The practical value of the technique is demonstrated on both a deformable phantom model with tomographically derived surface geometry and in vivo robotic assisted minimally invasive surgery (MIS) image sequences.
doi:10.1007/11566489_18 fatcat:w2zjrmoh7rcr5dzpo2qgjvm3ka