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i-BRUSH: A Gaze-Contingent Virtual Paintbrush for Dense 3D Reconstruction in Robotic Assisted Surgery

Visentini-Scarzanella, M; Mylonas, GP; Stoyanov, D; Yang, GZ; (2009) 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). SPRINGER-VERLAG BERLIN

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Abstract

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.

Type:Proceedings paper
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
ISBN-13:978-3-642-04267-6
Keywords:MINIMALLY INVASIVE SURGERY, MOTION STABILIZATION, DEPTH RECOVERY, DEFORMATION, TRACKING
UCL classification:UCL > School of BEAMS > Faculty of Engineering Science > Computer Science

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