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A surgical system for automatic registration, stiffness mapping and dynamic image overlay
[article]
2017
arXiv
pre-print
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In this paper we develop a surgical system using the da Vinci research kit (dVRK) that is capable of autonomously searching for tumors and dynamically displaying the tumor location using augmented reality ...
We believe that our approach is one of the first to incorporate state-of-the-art methods in registration, force sensing and tumor localization into a unified surgical system. ...
ACKNOWLEDGMENT Special thanks to James Picard, Sasank Vishnubhatla, Peggy Martin and other colleagues from Biorobotics Lab, Carnegie Mellon University. ...
arXiv:1711.08828v1
fatcat:nvpzslmjkvahxhb7c3stsii33a
A Real-time Augmented Reality Surgical System for Overlaying Stiffness Information
2018
Robotics: Science and Systems XIV
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We describe a surgical system that autonomously searches for tumors and dynamically displays a computer graphic model of them super-imposed on the organ (or in our case, phantom). ...
The estimated stiffness map is then dynamically overlaid onto the registered preoperative model of the organ. ...
ACKNOWLEDGMENTS This work has been funded through the National Robotics Initiative by NSF grant IIS-1426655 and the Center for Machine Learning and Health. ...
doi:10.15607/rss.2018.xiv.026
dblp:conf/rss/ZevallosRSLQSXP18
fatcat:ffcehsjelfffpghixj5qdn7d3a
CTA with Fluoroscopy Image Fusion Guidance in Endovascular Complex Aortic Aneurysm Repair
2014
European Journal of Vascular and Endovascular Surgery
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Fusion image road-mapping was used for navigation and positioning of the devices and catheter guidance during access to target vessels. ...
Respiration-related vessel displacement and straightening of elongated vessel segments by stiff devices are currently the main limitations in fusion image overlay accuracy. ...
Multimodality image co-registration is possible by means of performance of a C-arm CBCT system. ...
doi:10.1016/j.ejvs.2013.12.022
pmid:24485850
fatcat:67rgylibqjdzhga3wicnaawyqu
Towards multi-modal image-guided tumour identification in robot-assisted partial nephrectomy
2014
2nd Middle East Conference on Biomedical Engineering
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Nosrati, and J. Kawahara are with the Medical Image Analysis Lab, ...
Tumour identification is a critical step in robotassisted partial nephrectomy (RAPN) during which the surgeon determines the tumour localization and resection margins. ...
ACKNOWLEDGMENT This work was supported by NPRP Grant #4-161-2-056 from the Qatar National Research Fund (a member of the Qatar Foundation). ...
doi:10.1109/mecbme.2014.6783230
fatcat:2s67dgex5zbdrmqnios4pda3ku
Patient-Specific Biomechanical Modeling for Guidance During Minimally-Invasive Hepatic Surgery
2015
Annals of Biomedical Engineering
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Therefore, a reliable automatic system for intra-operative guidance requires fast and reliable registration of the pre-and intra-operative data. ...
In this paper we present a complete pipeline for the registration of pre-operative patient-specific image data to the sparse and incomplete intra-operative data. ...
This pipeline includes a semiautomatic segmentation of the liver and its vascular system, an automatic generation of the biomechanical model from the segmented maps, a real-time simulation of the complete ...
doi:10.1007/s10439-015-1419-z
pmid:26297341
fatcat:f7wgyzwfrngyhhpqlhblujflu4
Breast tissue stiffness estimation for surgical guidance using gravity-induced excitation
2017
Physics in Medicine and Biology
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Acknowledgments This work was supported by the National Institutes of Health through K25CA204599, R21EB022380 and by a National Science Foundation Graduate Research Fellowship awarded to R H G. ...
We would like to acknowledge and thank the support of the Vanderbilt Institute of Imaging Science (VUIIS). We would also like to graciously thank those who volunteered to be part of our study. ...
Below each masked overlay are the image similarity metric and displacement error maps for each rotation. ...
doi:10.1088/1361-6560/aa700a
pmid:28520556
pmcid:PMC5757162
fatcat:ijgxsp2io5g4ppnsiydnecsrwe
Perk Station—Percutaneous surgery training and performance measurement platform
2010
Computerized Medical Imaging and Graphics
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Methods: This paper describes a laboratory validation system, called Perk Station, for standardized training and performance measurement under different assistance techniques for needle-based surgical ...
The initial goal of the Perk Station is to assess and compare different techniques: 2D image overlay, biplane laser guide, laser protractor and conventional freehand. ...
National Institutes of Health (1 R01 CA118371-01A2) and a Teaching and Learning Enhancement Grant Award of Queen's University. ...
doi:10.1016/j.compmedimag.2009.05.001
pmid:19539446
pmcid:PMC2817987
fatcat:ta5oybvjlnf4tp6fyfojjy4rdy
Impact of Soft Tissue Heterogeneity on Augmented Reality for Liver Surgery
2015
IEEE Transactions on Visualization and Computer Graphics
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Vessels and tumors computed from pre-operative CT scans can be overlaid onto the laparoscopic view for surgery guidance. ...
This paper presents a method for real-time augmented reality of internal liver structures during minimally invasive hepatic surgery. ...
[17] proposed a robust solution to track and augment a deformable surgical site using shape from shading and conformal mapping. ...
doi:10.1109/tvcg.2014.2377772
pmid:26357206
fatcat:k2ptejcibreopio3lnbsqrfq2e
Image-guided simulation of heterogeneous tissue deformation for augmented reality during hepatic surgery
2013
2013 IEEE International Symposium on Mixed and Augmented Reality (ISMAR)
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ABSTRACT This paper presents a method for real-time augmentation of vascular network and tumors during minimally invasive liver surgery. ...
Figure 1 : A sequence of images showing the superimposition of the 3D real-time biomechanical model onto the human liver, undergoing deformation due to instrument interaction during minimally invasive ...
ACKNOWLEDGEMENTS The authors wish to thank Fernand Martel, Mario Sanz Lopez, Mourad Bouhadjar and Gael Fouré for helping us with the validation setup and data acquisition process. ...
doi:10.1109/ismar.2013.6671780
dblp:conf/ismar/HaouchineDPKBC13
fatcat:fde3vi7rzralrc3vltmcbbhqii
Assessing performance of augmented reality-based neurosurgical training
2019
Visual Computing for Industry, Biomedicine, and Art
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We propose a registration method for precise mapping of the virtual and real information. ...
Surgical simulation with bimanual haptic interaction is integrated in this work to provide a simulated environment for users to achieve holographic guidance for pre-operative training. ...
Authors' contributions WXS, XYL, YLQ, QW and PAH participated in the literature search, data analysis, manuscript writing and editing; HTS and XDC participated in the user study design and discussion; ...
doi:10.1186/s42492-019-0015-8
pmid:32240415
fatcat:q6tymlo24bghdbqbqo57uvugee
Recent Trends, Technical Concepts and Components of Computer-Assisted Orthopedic Surgery Systems: A Comprehensive Review
2019
Sensors
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, employing modern clinical navigation systems and surgical tools. ...
This paper brings a comprehensive review of recent trends and possibilities of CAOS systems. ...
Automatic registration of multimodal and structural images by automatic and semi-automatic selection of the RoI remains a challenging research issue. ...
doi:10.3390/s19235199
pmid:31783631
pmcid:PMC6929084
fatcat:khnqsovppbh3rjo6mc35vttrw4
Towards the Virtual Physiological Human
[article]
2007
Eurographics State of the Art Reports
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Nowadays, medical acquisition devices especially medical scanners are able to produce a large amount of information, such as highresolution volumes, temporal sequences or functional images, more-and-more ...
Human body representations have been used for centuries to help in understanding and documenting the shape and function of its compounding parts. ...
For dynamic spring models consisting of n nodes, for a given time step ∆t and a given mass µ = m total /n, there is a critical stiffness Kc above which the numerical system is divergent. ...
doi:10.2312/egt.20071062
fatcat:iyybqfp4nnadhfkaeagp6qr63q
Ultrasound-Based Guidance and Therapy
[chapter]
2013
Advancements and Breakthroughs in Ultrasound Imaging
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In addition, ultrasound images can be acquired in the coordinate system of a patient when combined with a tracking system without any need for registration. ...
The offline analysis was performed using a recently published non-rigid registration algorithm that was specifically designed for motion estimation from dynamic imaging data [87] . ...
doi:10.5772/55884
fatcat:aorojsswjrgdjhpayfebhbnmsi
On mixed reality environments for minimally invasive therapy guidance: Systems architecture, successes and challenges in their implementation from laboratory to clinic
2013
Computerized Medical Imaging and Graphics
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These environments must faithfully represent the real surgical field and require seamless integration of pre-and intra-operative imaging, surgical instrument tracking, and display technology into a common ...
This article should raise awareness among both developers and end-users toward facilitating a greater application of such environments in the surgical practice of the future. ...
Institute for Biomedical Imaging and Bioengineering (NIBIB-EB002834). ...
doi:10.1016/j.compmedimag.2012.12.002
pmid:23632059
pmcid:PMC3796657
fatcat:s4mec3tokfazrnowipg4axrqoq
Image Registration for Quantitative Parametric Response Mapping of Cancer Treatment Response
2014
Translational Oncology
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The concepts involved in the use of image registration for tracking and quantifying breast cancer treatment response using parametric response mapping (PRM), a voxel-based analysis of diffusion-weighted ...
Overall, registration-based PRM image analysis provides significant opportunities for voxel-based image analysis to provide the required accuracy for early assessment of response to treatment in breast ...
Acknowledgments The authors thank Bing Ma and Hyunjin Park for their assistance with the software and evaluation of the image registration algorithms. ...
doi:10.1593/tlo.14121
pmid:24772213
pmcid:PMC3998680
fatcat:crmeiosvvzbnfokysm4lap3czi
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