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Real-Time Stereo Reconstruction in Roboticailly Assisted Minimally Invasive Surgery

Stoyanov, D; Scarzanella, MV; Pratt, P; Yang, GZ; (2010) Real-Time Stereo Reconstruction in Roboticailly Assisted Minimally Invasive Surgery. In: Jiang, T and Navab, N and Pluim, JPW and Viegever, MA, (eds.) MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2010, PT I. (pp. 275 - 282). SPRINGER-VERLAG BERLIN

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Abstract

The recovery of 3D tissue structure and morphology during robotic assisted surgery is an important step towards accurate deployment of surgical guidance and control techniques in minimally invasive therapies. In this article, we present a novel stereo reconstruction algorithm that propagates disparity information around a set of candidate feature matches. This has the advantage of avoiding problems with specular highlights, occlusions from instruments and view dependent illumination bias. Furthermore, the algorithm can be used with any feature matching strategy allowing the propagation of depth in very disparate views. Validation is provided for a phantom model with known geometry and this data is available online in order to establish a structured validation scheme in the field. The practical value of the proposed method is further demonstrated by reconstructions on various in vivo images of robotic assisted procedures, which are also available to the community.

Type:Proceedings paper
Title:Real-Time Stereo Reconstruction in Roboticailly Assisted Minimally Invasive Surgery
Event:13th International Conference on Medical Image Computing and Computer-Assisted Intervention
Location:China Natl Convent Ctr, Beijing, PEOPLES R CHINA
Dates:2010-09-20 - 2010-09-24
ISBN-13:978-3-642-15704-2
UCL classification:UCL > School of BEAMS > Faculty of Engineering Science > Computer Science

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