Abstract
In robotically assisted laparoscopic surgery, soft-tissue motion tracking and structure recovery are important for intraoperative surgical guidance, motion compensation and delivering active constraints. In this paper, we present a novel method for feature based motion tracking of deformable soft-tissue surfaces in totally endoscopic coronary artery bypass graft (TECAB) surgery. We combine two feature detectors to recover distinct regions on the epicardial surface for which the sparse 3D surface geometry may be computed using a pre-calibrated stereo laparoscope. The movement of the 3D points is then tracked in the stereo images with stereo-temporal constrains by using an iterative registration algorithm. The practical value of the technique is demonstrated on both a deformable phantom model with tomographically derived surface geometry and in vivo robotic assisted minimally invasive surgery (MIS) image sequences.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Taylor, R.H., Stoianovici, D.: Medical Robotics in Computer-Integrated Surgery. IEEE Transactions on Robotics and Automation 19, 765–781 (2003)
Hoff, L., Elle, O.J., Grimnes, M.J., Halvorsen, S., Alker, H.J., Fosse, E.: Measurements of heart motion using accelerometers. In: Proc. EMBC, pp. 2049–2051 (2004)
Thrakal, A., Wallace, J., Tomlin, D., Seth, N., Thakor, N.: Surgical Motion Adaptive Robotic Technology (SMART): taking the motion out of physiological motion. In: Niessen, W.J., Viergever, M.A. (eds.) MICCAI 2001. LNCS, vol. 2208, pp. 317–325. Springer, Heidelberg (2001)
Nakamura, Y., Kishi, K., Kawakami, H.: Heartbeat synchronization for robotic cardiac surgery. In: Proc. ICRA, pp. 2014–2019 (2001)
Ginhoux, R., Gangloff, J.A., de Mathelin, M.F., Soler, L., Arenas Sanchez, M., Marescaux, J.: Beating Heart Tracking in Robotic Surgery Using 500 Hz Visual Servoing, Model Predictive Control and an Adaptive Observer. In: Proc. ICRA, pp. 274–279 (2004)
Gröger, M., Ortmaier, T., Sepp, W., Hirzinger, G.: Tracking local motion on the beating heart. In: Proc. SPIE Medical Imaging Conference, pp. 233–241 (2002)
Stoyanov, D., Darzi, A., Yang, G.-.Z.: Dense 3D Depth Recovery for Soft Tissue Deformation During Robotically Assisted Laparoscopic Surgery. In: Barillot, C., Haynor, D.R., Hellier, P. (eds.) MICCAI 2004. LNCS, vol. 3217, pp. 41–48. Springer, Heidelberg (2004)
Lau, W., Ramey, N., Corso, J., Thakor, N., Hager, G.: Stereo-Based Endoscopic Tracking of Cardiac Surface Deformation. In: Barillot, C., Haynor, D.R., Hellier, P. (eds.) MICCAI 2004. LNCS, vol. 3217, pp. 494–501. Springer, Heidelberg (2004)
Bobick, A.F., Intille, S.S.: Large occlusion stereo. International Journal of Computer Vision 33, 181–200 (1999)
Matas, J., Chum, O., Martin, U., Pajdla, T.: Robust wide baseline stereo from maximally stable extremal regions. In: Proc. BMVC, pp. 384–393 (2002)
Shi, J., Tomasi, C.: Good features to track. In: Proc. CVPR, pp. 593–600 (1994)
Mikolajczyk, K., Tuytelaars, T., Schmid, C., Zisserman, A., Matas, J., Schaffalitzky, F., Kadir, F., Van Gool, L.: A comparison of affine region detectors. International Journal of Computer Vision (in press)
Pilu, M.: A Direct Method for Stereo Correspondence based on Singular Value Decomposition. In: Proc. CVPR, pp. 261–266 (1997)
Hager, G.D., Belhumeur, P.N.: Efficient Region Tracking With Parametric Models of Geometry and Illumination. IEEE Transactions on Pattern Analysis and Machine Intelligence 20, 1–15 (1998)
Lucas, B.D., Kanade, T.: An Iterative Image Registration Technique with an Application to Stereo Vision. In: Proc. IJCAI, pp. 674–679 (1981)
Baker, S., Matthews, I.: Lucas-Kanade 20 Years On: A Unifying Framework. International Journal of Computer Vision 56, 221–255 (2004)
Zhang, Z.: A flexible new technique for camera calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence 22, 1330–1334 (2000)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Stoyanov, D., Mylonas, G.P., Deligianni, F., Darzi, A., Yang, G.Z. (2005). Soft-Tissue Motion Tracking and Structure Estimation for Robotic Assisted MIS Procedures. In: Duncan, J.S., Gerig, G. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2005. MICCAI 2005. Lecture Notes in Computer Science, vol 3750. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11566489_18
Download citation
DOI: https://doi.org/10.1007/11566489_18
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-29326-2
Online ISBN: 978-3-540-32095-1
eBook Packages: Computer ScienceComputer Science (R0)