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Soft Tissue Deformation Tracking for Robotic Assisted Minimally Invasive Surgery

Stoyanov, D; Yang, GZ; (2009) Soft Tissue Deformation Tracking for Robotic Assisted Minimally Invasive Surgery. In: EMBC: 2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20. (pp. 254 - 257). IEEE

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Abstract

This paper presents a new framework for tracking soft tissue deformation in robotic assisted minimally invasive surgery. The method combines optical feature tracking based on stereo-laparoscope images and a constrained geometrical surface model that deforms with feature motion. This has the advantage of relying on reliable salient feature tracking while embedding underlying constraints on the tissue surface for deriving consistent temporal deformation. The proposed framework is resilient to occlusions and specular highlights. The accuracy and robustness of the proposed method are validated using a phantom heart model with known ground truth. To demonstrate the practical value of the method, example in vivo results are also provided.

Type:Proceedings paper
Title:Soft Tissue Deformation Tracking for Robotic Assisted Minimally Invasive Surgery
Event:Annual International Conference of the IEEE-Engineering-in-Medicine-and-Biology-Society
Location:Minneapolis, MN
Dates:2009-09-03 - 2009-09-06
ISBN-13:978-1-4244-3295-0
Keywords:SURFACE DEFORMATION, MODELS
UCL classification:UCL > School of BEAMS > Faculty of Engineering Science > Computer Science

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