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Soft tissue deformation tracking for robotic assisted minimally invasive surgery

Stoyanov, D; Yang, G-Z; (2009) Soft tissue deformation tracking for robotic assisted minimally invasive surgery. Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 254 - 257. 10.1109/IEMBS.2009.5334010.

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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. ©2009 IEEE.

Type:Article
Title:Soft tissue deformation tracking for robotic assisted minimally invasive surgery
DOI:10.1109/IEMBS.2009.5334010
UCL classification:UCL > School of BEAMS > Faculty of Engineering Science > Computer Science

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