Towards robust 3D visual tracking for motion compensation in beating heart surgery

Richa, Rogério; Bó, Antônio Padilha Lanari; Poignet, Philippe

doi:10.1016/j.media.2010.12.002

Cited by 65 publications

(48 citation statements)

References 17 publications

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“…Much of the prior work has focused on beating heart surgery [3,5,9,15], where the reconstructed heart surface could be used for motion stabilisation or registration to a preoperative model. To achieve smooth and robust stereo reconstruction, methods have been proposed that use a parametric surface description [5] to overcome texture homogeneity.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery

Chang

Stoyanov

Davison

et al. 2013

Advanced Information Systems Engineering

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Abstract.Reconstructing the depth of stereo-endoscopic scenes is an important step in providing accurate guidance in robotic-assisted minimally invasive surgery. Stereo reconstruction has been studied for decades but remains a challenge in endoscopic imaging. Current approaches can easily fail to reconstruct an accurate and smooth 3D model due to textureless tissue appearance in the real surgical scene and occlusion by instruments. To tackle these problems, we propose a dense stereo reconstruction algorithm using convex optimisation with a cost-volume to efficiently and effectively reconstruct a smooth model while maintaining depth discontinuity. The proposed approach has been validated by quantitative evaluation using simulation and real phantom data with known ground truth. We also report qualitative results from real surgical images. The algorithm outperforms state of the art methods and can be easily parallelised to run in real-time on recent graphics hardware.

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Section: Introductionmentioning

confidence: 99%

Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery

Chang

Stoyanov

Davison

et al. 2013

Advanced Information Systems Engineering

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“…Even though palliative solutions such as motion prediction can compensate for this delay in most of the cases, the compensation errors due to latency should be kept within safe levels (under 200 m) required by cardiac surgery [9]. In fact, recent studies show that low prediction errors can be achieved in small prediction horizons (see [40]) such as the measured compensation delay (120 ms). The evaluation of motion prediction methods (as developed e.g in.…”

Section: Resultsmentioning

confidence: 99%

“…The delay between the image acquisition and visual tracking step to the robot actuation can be compensated by exploiting the quasi-periodicity of the beating heart motion for predicting its future motion. Although no motion prediction is incorporated to the current system, studies show that low prediction errors can be achieved in small prediction horizons (see [40] such as the measured compensation delay (120 ms).…”

Section: Preliminary Experimental Validationsmentioning

confidence: 99%

Integration of New Features for Telerobotic Surgery into The Mirosurge System

Konietschke

Zerbato

Richa

et al. 2011

Applied Bionics and Biomechanics

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Abstract. Minimally invasive robotic surgery has gained wide acceptance recently. Computer-aided features to assist the surgeon during these interventions may help to develop safer, faster, and more accurate procedures. Especially physiological motion compensation of the beating heart and online soft tissue modelling are promising features that were developed recently. This paper presents the integration of these new features into the minimally invasive robotic surgery platform MiroSurge. A central aim of this research platform is to enable evaluation and comparison of new functionalities for minimally invasive robotic surgery. The system structure of MiroSurge is presented as well as the interfaces for the new functionalities. Some details about the modules for motion tracking and for soft tissue simulation are given. Results are shown with an experimental setup that includes a heart motion simulator and dedicated silicone organ models. Both features are integrated seamlessly and work reliably in the chosen setup. The MiroSurge platform thus shows the potential to provide valuable results in evaluating new functionalities for minimally invasive robotic surgery.

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“…For this application, several stereoscopic techniques have been proposed for reconstructing the cardiac surface shape and subsequently tracking its motion and deformation using a geometric surface model as a smoothness constraint (Lau et al, 2004;Stoyanov et al, 2004). These approaches do not solve the correspondence problem like conventional computational stereo algorithms, but they do inherently reconstruct the tissue surface shape from stereoscopic cues and can incorporate motion models and constraints for handling specular reflections and occlusions (Richa et al, 2008b(Richa et al, , 2011. The methods can be implemented using GPU parallelization to achieve fast processing (Richa et al, 2011).…”

Section: Application To Laparoscopymentioning

confidence: 99%

“…These approaches do not solve the correspondence problem like conventional computational stereo algorithms, but they do inherently reconstruct the tissue surface shape from stereoscopic cues and can incorporate motion models and constraints for handling specular reflections and occlusions (Richa et al, 2008b(Richa et al, , 2011. The methods can be implemented using GPU parallelization to achieve fast processing (Richa et al, 2011). Table 1 summarizes some of the properties of stereo reconstruction applied to laparoscopy.…”

Section: Application To Laparoscopymentioning

confidence: 99%

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Maier-Hein

Mountney

Bartoli

et al. 2013

Medical Image Analysis

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130

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One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon's navigation capabilites by observing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted instruments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D optical imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions.

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Towards robust 3D visual tracking for motion compensation in beating heart surgery

Cited by 65 publications

References 17 publications

Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery

Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery

Integration of New Features for Telerobotic Surgery into The Mirosurge System

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

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