Addressing shading-based laparoscopic registration

TY - CHAP

T1 - Addressing shading-based laparoscopic registration

AU - Lamata de la Orden, Pablo

AU - Morvan, T.

AU - Reimers, M.

AU - Samset, E.

AU - Declerck, J.

PY - 2009

Y1 - 2009

N2 - Surgical augmentation is addressed with a novel approach driven by the shading information captured by conventional endoscopes. The method is applicable even for organs or surfaces with no salient features, where the matching problem in motion algorithms is prone to fail. The idea is to produce 3D reconstructions of organs from intraoperative video-endoscopic images, and subsequently align them to the preoperative volumetric models. A propagating shape from shading (SfS) technique is adapted to the perspective camera model with a point source of light located at the camera centre. The alignment is performed based on an iterative closest point algorithm with two additional steps, one to update the scale of the perspective reconstruction and the other to tune the albedo and light intensity effects in the SfS reconstruction. Results from both synthetic and real endoscopic images show good spatial alignment of the shapes. We therefore believe shading-driven augmentation is a feasible approach for applications like laparoscopic liver hepatectomy.

AB - Surgical augmentation is addressed with a novel approach driven by the shading information captured by conventional endoscopes. The method is applicable even for organs or surfaces with no salient features, where the matching problem in motion algorithms is prone to fail. The idea is to produce 3D reconstructions of organs from intraoperative video-endoscopic images, and subsequently align them to the preoperative volumetric models. A propagating shape from shading (SfS) technique is adapted to the perspective camera model with a point source of light located at the camera centre. The alignment is performed based on an iterative closest point algorithm with two additional steps, one to update the scale of the perspective reconstruction and the other to tune the albedo and light intensity effects in the SfS reconstruction. Results from both synthetic and real endoscopic images show good spatial alignment of the shapes. We therefore believe shading-driven augmentation is a feasible approach for applications like laparoscopic liver hepatectomy.

KW - Intraoperative registration

KW - Laparoscopy

KW - Shape from shading

KW - Soft tissue navigation

UR - http://www.scopus.com/inward/record.url?scp=77949387187&partnerID=8YFLogxK

U2 - 10.1007/978-3-642-03906-5_52

DO - 10.1007/978-3-642-03906-5_52

M3 - Conference paper

AN - SCOPUS:77949387187

SN - 9783642039058

VL - 25

SP - 189

EP - 192

BT - IFMBE Proceedings

T2 - World Congress on Medical Physics and Biomedical Engineering - Surgery, Minimal Invasive Interventions, Endoscopy and Image Guided Therapy

Y2 - 7 September 2009 through 12 September 2009

ER -