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International Journal of Computer Assisted Radiology and Surgery

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09-12-2016 | Original Article

Handling topological changes during elastic registration

Application to augmented reality in laparoscopic surgery

Authors: Christoph J. Paulus, Nazim Haouchine, Seong-Ho Kong, Renato Vianna Soares, David Cazier, Stephane Cotin

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 3/2017

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Abstract

Purpose

Locating the internal structures of an organ is a critical aspect of many surgical procedures. Minimally invasive surgery, associated with augmented reality techniques, offers the potential to visualize inner structures, allowing for improved analysis, depth perception or for supporting planning and decision systems.

Methods

Most of the current methods dealing with rigid or non-rigid augmented reality make the assumption that the topology of the organ is not modified. As surgery relies essentially on cutting and dissection of anatomical structures, such methods are limited to the early stages of the surgery.

We solve this shortcoming with the introduction of a method for physics-based elastic registration using a single view from a monocular camera. Singularities caused by topological changes are detected and propagated to the preoperative model. This significantly improves the coherence between the actual laparoscopic view and the model and provides added value in terms of navigation and decision-making, e.g., by overlaying the internal structures of an organ on the laparoscopic view.

Results

Our real-time augmentation method is assessed on several scenarios, using synthetic objects and real organs. In all cases, the impact of our approach is demonstrated, both qualitatively and quantitatively (http://www.open-cas.org/?q=PaulusIJCARS16).

Conclusion

The presented approach tackles the challenge of localizing internal structures throughout a complete surgical procedure, even after surgical cuts. This information is crucial for surgeons to improve the outcome for their surgical procedure and avoid complications.

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Title: Handling topological changes during elastic registration
Application to augmented reality in laparoscopic surgery
Authors: Christoph J. Paulus
Nazim Haouchine
Seong-Ho Kong
Renato Vianna Soares
David Cazier
Stephane Cotin
Publication date: 09-12-2016
Publisher: Springer International Publishing
Published in: International Journal of Computer Assisted Radiology and Surgery / Issue 3/2017
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-016-1502-4

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Abstract

Purpose

Methods

Results

Conclusion

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