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  • 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.
  • 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. (en)
Title
  • Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
  • Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery (en)
skos:prefLabel
  • Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
  • Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery (en)
skos:notation
  • RIV/00216224:14610/14:00078002!RIV15-MSM-14610___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(LM2010005)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 50805
http://linked.open...ai/riv/idVysledku
  • RIV/00216224:14610/14:00078002
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • augmented reality; image motion analysis; medical image processing; object tracking; augmented reality (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [B8375DEDFFFC]
http://linked.open...v/mistoKonaniAkce
  • Hong Kong
http://linked.open...i/riv/mistoVydani
  • Hong Kong, China
http://linked.open...i/riv/nazevZdroje
  • International Conference on Robotics and Automation (ICRA)
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Peterlík, Igor
  • Cotin, Stephane
  • Haouchine, Nazim
  • Dequidt, Jeremie
  • Berger, Marie-Odile
  • Kerrien, Erwan
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
http://bibframe.org/vocab/doi
  • 10.1109/ICRA.2014.6907458
http://purl.org/ne...btex#hasPublisher
  • IEEE
https://schema.org/isbn
  • 9781479936861
http://localhost/t...ganizacniJednotka
  • 14610
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