Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

IN - Informatika

OECD FORD obor

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Projekt

<a href="/cs/project/LM2010005" target="_blank" >LM2010005: Velká infrastruktura CESNET</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2014

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

International Conference on Robotics and Automation (ICRA)

ISBN

9781479936861

ISSN

—

e-ISSN

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Počet stran výsledku

6

Strana od-do

4121-4126

Název nakladatele

IEEE

Místo vydání

Hong Kong, China

Místo konání akce

Hong Kong

Datum konání akce

1. 1. 2014

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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