Robust Shape Recovery of Deformable Soft-tissue Based on Information from Stereo Scope for Minimal Invasive Surgery

song, J; wang, J; Zhao, L; huang, S; Dissanayake, G

Robust Shape Recovery of Deformable Soft-tissue Based on Information from Stereo Scope for Minimal Invasive Surgery

song, J wang, J Zhao, L

huang, S

Dissanayake, G

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Publication Type:: Conference Proceeding
Citation:: Hamlyn Symposium on Medical Robotics (HSMR 2017), 2017
Issue Date:: 2017-07-25

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Field	Value	Language
dc.contributor.author	song, J	en_US
dc.contributor.author	wang, J	en_US
dc.contributor.author	Zhao, L https://orcid.org/0000-0003-4063-8183	en_US
dc.contributor.author	huang, S https://orcid.org/0000-0002-6124-4178	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date	2017-06-24	en_US
dc.date.issued	2017-07-25	en_US
dc.identifier.citation	Hamlyn Symposium on Medical Robotics (HSMR 2017), 2017	en_US
dc.identifier.uri	http://hdl.handle.net/10453/118509
dc.description.abstract	Overcoming small field of view of scopes is an important challenge in minimal invasive surgery (MIS). Efforts have been devoted in 3D soft-tissue construction and camera localization [1-2]. This paper proposes a robust strategy for simultaneous camera localization and dense reconstruction of deformable surfaces. The robustness is achieved by: (1) using a sequence of images collected from a stereoscope by considering uncertainty map; (2) filtering images with low intensity; (3) filtering depth by normals. Our approach greatly reduces depth estimation parameter adjustment efforts while still generates good results and preserves topological details. Experiments reveal that the proposed approach is convenient for dynamically rebuild and visualize the latest shape of soft-tissue to mitigate unnecessary tissue damages in minimal invasive surgery.	en_US
dc.relation.ispartof	Hamlyn Symposium on Medical Robotics (HSMR 2017)	en_US
dc.relation.ispartof	Hamlyn Symposium on Medical Robotics	en_US
dc.rights	info:eu-repo/semantics/closedAccess
dc.title	Robust Shape Recovery of Deformable Soft-tissue Based on Information from Stereo Scope for Minimal Invasive Surgery	en_US
dc.type	Conference Proceeding
utslib.location.activity	Kensington, England	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	closed_access	*
pubs.consider-herdc	false	en_US
pubs.finish-date	2017-06-27	en_US
pubs.start-date	2017-06-24	en_US

Abstract:

Overcoming small field of view of scopes is an important challenge in minimal invasive surgery (MIS). Efforts have been devoted in 3D soft-tissue construction and camera localization [1-2]. This paper proposes a robust strategy for simultaneous camera localization and dense reconstruction of deformable surfaces. The robustness is achieved by: (1) using a sequence of images collected from a stereoscope by considering uncertainty map; (2) filtering images with low intensity; (3) filtering depth by normals. Our approach greatly reduces depth estimation parameter adjustment efforts while still generates good results and preserves topological details. Experiments reveal that the proposed approach is convenient for dynamically rebuild and visualize the latest shape of soft-tissue to mitigate unnecessary tissue damages in minimal invasive surgery.

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http://hdl.handle.net/10453/118509