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Computer-Assisted and Robotic Endoscopy

CARE 2015: Computer-Assisted and Robotic Endoscopy pp 59–68Cite as

Using Shading to Register an Intraoperative CT Scan to a Laparoscopic Image

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Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 9515))

Abstract

In abdominal surgery, augmented reality has been attempted by registering preoperative 3D data onto the intraoperative laparoscopic view. The registration may be aided by an interventional 3D imaging system such as a rotational C-arm. It has been shown that one can determine the transformation between an intraoperative 3D volume and the laparoscopic view by letting the laparoscope tip enter the C-arm acquisition field. However, the transformation estimation was up to a 1D rotation and a 2D translation. We propose to complete this registration by using local shading constraints with a piecewise constant albedo hypothesis on the surface of the surgical scene. Thus, the registration becomes fully automatic with no extra apparatus required. Results from experiments on in vivo data show a millimetric registration accuracy.

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Author information

Authors and Affiliations

  1. IHU, Institut de Chirurgie Guidée par l’Image de Strasbourg, Strasbourg, France

    Sylvain Bernhardt & Luc Soler

  2. ICube, Université de Strasbourg, Strasbourg, France

    Sylvain Bernhardt, Stéphane A. Nicolau, Vincent Agnus & Christophe Doignon

  3. IRCAD, Virtual Surg, Strasbourg, France

    Luc Soler

  4. ALCoV-ISIT, Université d’Auvergne, Clermont-Ferrand, France

    Adrien Bartoli

Authors
  1. Sylvain Bernhardt
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  2. Stéphane A. Nicolau
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  3. Adrien Bartoli
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  4. Vincent Agnus
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  5. Luc Soler
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  6. Christophe Doignon
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Corresponding author

Correspondence to Sylvain Bernhardt .

Editor information

Editors and Affiliations

  1. Xiamen University, Fujian, China

    Xiongbiao Luo

  2. KUKA Robotics, Augsburg, Germany

    Tobias Reichl

  3. Johns Hopkins University, Baltimore, Maryland, USA

    Austin Reiter

  4. University of Texas at Arlington, Arlington, Texas, USA

    Gian-Luca Mariottini

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© 2016 Springer International Publishing Switzerland

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Bernhardt, S., Nicolau, S.A., Bartoli, A., Agnus, V., Soler, L., Doignon, C. (2016). Using Shading to Register an Intraoperative CT Scan to a Laparoscopic Image. In: Luo, X., Reichl, T., Reiter, A., Mariottini, GL. (eds) Computer-Assisted and Robotic Endoscopy. CARE 2015. Lecture Notes in Computer Science(), vol 9515. Springer, Cham. https://doi.org/10.1007/978-3-319-29965-5_6

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  • DOI: https://doi.org/10.1007/978-3-319-29965-5_6

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29964-8

  • Online ISBN: 978-3-319-29965-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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