DocumentCode :
2400219
Title :
Dynamic view expansion for minimally invasive surgery using simultaneous localization and mapping
Author :
Mountney, Peter ; Yang, Guang-Zhong
Author_Institution :
Dept. of Comput., Imperial Coll. London, London, UK
fYear :
2009
fDate :
3-6 Sept. 2009
Firstpage :
1184
Lastpage :
1187
Abstract :
Navigation during minimally invasive surgery (MIS) has recognized difficulties due to limited field-of-view, off-axis visualization and loss of direct 3D vision. This can cause visual-spatial disorientation when exploring complex in vivo structures. In this paper, we present an approach to dynamic view expansion which builds a 3D textured model of the MIS environment to facilitate in vivo navigation. With the proposed technique, no prior knowledge of the environment is required and the model is built sequentially while the laparoscope is moved. The method is validated on simulated data with known ground truth. Its potential clinical value is also demonstrated with in vivo experiments.
Keywords :
biomedical optical imaging; endoscopes; image sequences; image texture; medical image processing; surgery; 3D textured model; dynamic view expansion; laparoscope; localization; mapping; minimally invasive surgery; navigation; Biomedical Engineering; Humans; Imaging, Three-Dimensional; Laparoscopes; Models, Statistical; Poisson Distribution; Surgery, Computer-Assisted; Surgical Procedures, Minimally Invasive;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Engineering in Medicine and Biology Society, 2009. EMBC 2009. Annual International Conference of the IEEE
Conference_Location :
Minneapolis, MN
ISSN :
1557-170X
Print_ISBN :
978-1-4244-3296-7
Electronic_ISBN :
1557-170X
Type :
conf
DOI :
10.1109/IEMBS.2009.5333939
Filename :
5333939
Link To Document :
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