Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
Identifieur interne : 000B21 ( Main/Exploration ); précédent : 000B20; suivant : 000B22Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
Auteurs : Nazim Haouchine [France] ; Jérémie Dequidt [France] ; Igor Peterlik [France] ; Erwan Kerrien [France] ; Marie-Odile Berger [France] ; Stéphane Cotin [France]Source :
Abstract
This article introduces a method for tracking the internal structures of the liver during robot-assisted procedures. Vascular network, tumors and cut planes, computed from pre-operative data, can be overlaid onto the laparoscopic view for image-guidance, even in the case of large motion or deformation of the organ. Compared to current methods, our method is able to precisely propagate surface motion to the internal structures. This is made possible by relying on a fast yet accurate biomechanical model of the liver combined with a robust visual tracking approach designed to properly constrain the model. Augmentation results are demonstrated on in-vivo sequences of a human liver during robotic surgery, while quantitative validation is performed on an ex-vivo porcine liver experimentation. Validation results show that our approach gives an accurate surface registration with an error of less than 6mm on the position of the tumor.
Url:
Affiliations:
- France
- Alsace (région administrative), Grand Est, Lorraine (région)
- Metz, Nancy, Strasbourg
- Institut national polytechnique de Lorraine, Université Nancy 2, Université de Lorraine, Université de Strasbourg
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Le document en format XML
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CS 25233 - 54052 Nancy cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lorraine.fr/</ref></desc></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><settlement type="city">Metz</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Berger, Marie Odile" sort="Berger, Marie Odile" uniqKey="Berger M" first="Marie-Odile" last="Berger">Marie-Odile Berger</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-2585" status="OLD"><idno type="RNSR">200618292L</idno><orgName>Visual Augmentation of Complex Environments</orgName><orgName type="acronym">MAGRIT</orgName><desc><address><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/magrit</ref></desc><listRelation><relation active="#struct-160" type="direct"></relation><relation name="UMR7503" active="#struct-441569" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation active="#struct-300291" type="indirect"></relation><relation active="#struct-300292" type="indirect"></relation><relation active="#struct-300293" type="indirect"></relation><relation active="#struct-2496" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-160" type="direct"><org type="laboratory" xml:id="struct-160" status="OLD"><orgName>Laboratoire Lorrain de Recherche en Informatique et ses Applications</orgName><orgName type="acronym">LORIA</orgName><desc><address><addrLine>Campus Scientifique BP 239 54506 Vandoeuvre-lès-Nancy Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.loria.fr</ref></desc><listRelation><relation name="UMR7503" active="#struct-441569" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation active="#struct-300291" type="direct"></relation><relation active="#struct-300292" type="direct"></relation><relation active="#struct-300293" type="direct"></relation></listRelation></org></tutelle><tutelle name="UMR7503" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle active="#struct-300291" type="indirect"><org type="institution" xml:id="struct-300291" status="OLD"><orgName>Université Henri Poincaré - Nancy 1</orgName><orgName type="acronym">UHP</orgName><date type="end">2011-12-31</date><desc><address><addrLine>24-30 rue Lionnois, BP 60120, 54 003 NANCY cedex, France</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300292" type="indirect"><org type="institution" xml:id="struct-300292" status="OLD"><orgName>Université Nancy 2</orgName><date type="end">2011-12-31</date><desc><address><addrLine>91 avenue de la Libération, BP 454, 54001 Nancy cedex</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300293" type="indirect"><org type="institution" xml:id="struct-300293" status="OLD"><orgName>Institut National Polytechnique de Lorraine</orgName><orgName type="acronym">INPL</orgName><date type="end">2011-12-31</date><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-2496" type="direct"><org type="laboratory" xml:id="struct-2496" status="OLD"><orgName>INRIA Lorraine</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre-de-recherche-inria/nancy-grand-est</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université Nancy 2</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Institut national polytechnique de Lorraine</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Cotin, Stephane" sort="Cotin, Stephane" uniqKey="Cotin S" first="Stéphane" last="Cotin">Stéphane Cotin</name><affiliation wicri:level="1"><hal:affiliation type="researchteam" xml:id="struct-186016" status="VALID"><idno type="RNSR">201221029K</idno><orgName>Simulation in Healthcare using Computer Research Advances</orgName><orgName type="acronym">SHACRA</orgName><desc><address><addrLine>Inria // 50 Avenue Halley // 59650 Villeneuve d'Ascq // France and IRCAD // 1 Place de l'Hôpital // 67000 Strasbourg // France</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/equipes/shacra</ref></desc><listRelation><relation active="#struct-2546" type="direct"></relation><relation active="#struct-301700" type="indirect"></relation><relation active="#struct-92973" type="indirect"></relation><relation active="#struct-300009" type="indirect"></relation><relation name="UMR8022" active="#struct-441569" type="indirect"></relation><relation active="#struct-104752" type="direct"></relation><relation active="#struct-129671" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-2546" type="direct"><org type="laboratory" xml:id="struct-2546" status="VALID"><orgName>Laboratoire d'Informatique Fondamentale de Lille</orgName><orgName type="acronym">LIFL</orgName><desc><address><addrLine>Bâtiment M3 59655 Villeneuve d'Ascq Cédex</addrLine><country key="FR"></country></address><ref type="url">http://www.lifl.fr/</ref></desc><listRelation><relation active="#struct-301700" type="direct"></relation><relation active="#struct-92973" type="direct"></relation><relation active="#struct-300009" type="direct"></relation><relation name="UMR8022" active="#struct-441569" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-301700" type="indirect"><org type="institution" xml:id="struct-301700" status="VALID"><idno type="IdRef">026404524</idno><idno type="ISNI">0000000121517701</idno><orgName>Université de Lille, Sciences Humaines et Sociales</orgName><desc><address><addrLine>Domaine universitaire du "Pont de Bois"Rue du Barreau BP 60149 59653 Villeneuve d'Ascq Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lille3.fr/</ref></desc></org></tutelle><tutelle active="#struct-92973" type="indirect"><org type="institution" xml:id="struct-92973" status="VALID"><idno type="IdRef">026404184</idno><orgName>Université de Lille, Sciences et Technologies</orgName><desc><address><addrLine>Cité Scientifique - 59655 Villeneuve d'Ascq Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.univ-lille1.fr/</ref></desc></org></tutelle><tutelle active="#struct-300009" type="indirect"><org type="institution" xml:id="struct-300009" status="VALID"><orgName>Institut National de Recherche en Informatique et en Automatique</orgName><orgName type="acronym">Inria</orgName><desc><address><addrLine>Domaine de VoluceauRocquencourt - BP 10578153 Le Chesnay Cedex</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/en/</ref></desc></org></tutelle><tutelle name="UMR8022" active="#struct-441569" type="indirect"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle><tutelle active="#struct-104752" type="direct"><org type="laboratory" xml:id="struct-104752" status="VALID"><idno type="RNSR">200818245B</idno><orgName>INRIA Lille - Nord Europe</orgName><desc><address><addrLine>Parc Scientifique de la Haute Borne 40, avenue Halley Bât.A, Park Plaza 59650 Villeneuve d'Ascq</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/lille/</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-129671" type="direct"><org type="laboratory" xml:id="struct-129671" status="VALID"><idno type="RNSR">198618246Y</idno><orgName>INRIA Nancy - Grand Est</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/nancy</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This article introduces a method for tracking the internal structures of the liver during robot-assisted procedures. Vascular network, tumors and cut planes, computed from pre-operative data, can be overlaid onto the laparoscopic view for image-guidance, even in the case of large motion or deformation of the organ. Compared to current methods, our method is able to precisely propagate surface motion to the internal structures. This is made possible by relying on a fast yet accurate biomechanical model of the liver combined with a robust visual tracking approach designed to properly constrain the model. Augmentation results are demonstrated on in-vivo sequences of a human liver during robotic surgery, while quantitative validation is performed on an ex-vivo porcine liver experimentation. Validation results show that our approach gives an accurate surface registration with an error of less than 6mm on the position of the tumor.</div></front></TEI><affiliations><list><country><li>France</li></country><region><li>Alsace (région administrative)</li><li>Grand Est</li><li>Lorraine (région)</li></region><settlement><li>Metz</li><li>Nancy</li><li>Strasbourg</li></settlement><orgName><li>Institut national polytechnique de Lorraine</li><li>Université Nancy 2</li><li>Université de Lorraine</li><li>Université de Strasbourg</li></orgName></list><tree><country name="France"><noRegion><name sortKey="Haouchine, Nazim" sort="Haouchine, Nazim" uniqKey="Haouchine N" first="Nazim" last="Haouchine">Nazim Haouchine</name></noRegion><name sortKey="Berger, Marie Odile" sort="Berger, Marie Odile" uniqKey="Berger M" first="Marie-Odile" last="Berger">Marie-Odile Berger</name><name sortKey="Cotin, Stephane" sort="Cotin, Stephane" uniqKey="Cotin S" first="Stéphane" last="Cotin">Stéphane Cotin</name><name sortKey="Dequidt, Jeremie" sort="Dequidt, Jeremie" uniqKey="Dequidt J" first="Jérémie" last="Dequidt">Jérémie Dequidt</name><name sortKey="Kerrien, Erwan" sort="Kerrien, Erwan" uniqKey="Kerrien E" first="Erwan" last="Kerrien">Erwan Kerrien</name><name sortKey="Peterlik, Igor" sort="Peterlik, Igor" uniqKey="Peterlik I" first="Igor" last="Peterlik">Igor Peterlik</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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|texte= Towards an Accurate Tracking of Liver Tumors for Augmented Reality in Robotic Assisted Surgery
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