Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14610%2F14%3A00078002" target="_blank" >RIV/00216224:14610/14:00078002 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ICRA.2014.6907458" target="_blank" >http://dx.doi.org/10.1109/ICRA.2014.6907458</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ICRA.2014.6907458" target="_blank" >10.1109/ICRA.2014.6907458</a>
Alternative languages
Result language
angličtina
Original language name
Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
Original language description
This article introduces a method for tracking the internal structures of the liver during robot-assisted procedures. Vascular network, tumors and cut planes, computed from pre-operative data, can be overlaid onto the laparoscopic view for image-guidance,even in the case of large motion or deformation of the organ. Compared to current methods, our method is able to precisely propagate surface motion to the internal structures. This is made possible by relying on a fast yet accurate biomechanical model of the liver combined with a robust visual tracking approach designed to properly constrain the model. Augmentation results are demonstrated on in-vivo sequences of a human liver during robotic surgery, while quantitative validation is performed on an ex-vivo porcine liver experimentation. Validation results show that our approach gives an accurate surface registration with an error of less than 6mm on the position of the tumor.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
IN - Informatics
OECD FORD branch
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Result continuities
Project
<a href="/en/project/LM2010005" target="_blank" >LM2010005: Large Infrastructure CESNET</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
International Conference on Robotics and Automation (ICRA)
ISBN
9781479936861
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
4121-4126
Publisher name
IEEE
Place of publication
Hong Kong, China
Event location
Hong Kong
Event date
Jan 1, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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