i-BRUSH: A Gaze-Contingent Virtual Paintbrush for Dense 3D Reconstruction in Robotic Assisted Surgery.
In: Yang, GZ and Hawkes, D and Rueckert, D and Nobel, A and Taylor, C, (eds.)
MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2009, PT I, PROCEEDINGS.
(pp. 353 - 360).
With increasing demand on intra-operative navigation and motion compensation during robotic assisted minimally invasive surgery, real-time 3D deformation recovery remains a central problem. Currently the majority of existing methods rely on salient features, where the inherent paucity of distinctive landmarks implies either a semi-dense reconstruction or the use of strong geometrical constraints. In this Study, we propose a gaze-contingent depth reconstruction scheme by integrating human perception with semi-dense stereo and p-q based shading information. Depth inference is carried Out in real-time through a novel application of Bayesian Chains Without smoothness priors. The practical value of the scheme is highlighted by detailed validation using a beating heart phantom model with known geometry to verify the performance of gaze-contingent 3D Surface reconstruction and deformation recovery.
|Title:||i-BRUSH: A Gaze-Contingent Virtual Paintbrush for Dense 3D Reconstruction in Robotic Assisted Surgery|
|Event:||12th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI2009)|
|Location:||Imperial Coll, London, ENGLAND|
|Dates:||2009-09-20 - 2009-09-24|
|Keywords:||MINIMALLY INVASIVE SURGERY, MOTION STABILIZATION, DEPTH RECOVERY, DEFORMATION, TRACKING|
|UCL classification:||UCL > School of BEAMS > Faculty of Engineering Science
UCL > School of BEAMS > Faculty of Engineering Science > Computer Science
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