Abstract
Synergistic fusion of pre-operative (pre-op) and intra- operative (intra-op) imaging data provides surgeons with invaluable insightful information that can improve their decision-making during minimally invasive robotic surgery. In this paper, we propose an efficient technique to segment multiple objects in intra-op multi-view endoscopic videos based on priors captured from pre-op data. Our approach leverages information from 3D pre-op data into the analysis of visual cues in the 2D intra-op data by formulating the problem as one of finding the 3D pose and non-rigid deformations of tissue models driven by features from 2D images. We present a closed-form solution for our formulation and demonstrate how it allows for the inclusion of laparoscopic camera motion model. Our efficient method runs in real-time on a single core CPU making it practical even for robotic surgery systems with limited computational resources. We validate the utility of our technique on ex vivo data as well as in vivo clinical data from laparoscopic partial nephrectomy surgery and demonstrate its robustness in segmenting stereo endoscopic videos.
This publication was made possible by NPRP Grant#4-161-2-056 from the Qatar National Research Fund (a member of the Qatar Foundation). The statements made herein are solely the responsibility of the authors.
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Keywords
- Partial Nephrectomy
- Camera Motion
- Laparoscopic Partial Nephrectomy
- Video Segmentation
- Robotic Partial Nephrectomy
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.
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Nosrati, M.S. et al. (2014). Efficient Multi-organ Segmentation in Multi-view Endoscopic Videos Using Pre-operative Priors. In: Golland, P., Hata, N., Barillot, C., Hornegger, J., Howe, R. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2014. MICCAI 2014. Lecture Notes in Computer Science, vol 8674. Springer, Cham. https://doi.org/10.1007/978-3-319-10470-6_41
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DOI: https://doi.org/10.1007/978-3-319-10470-6_41
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