Deformation invariant bounding spheres for dynamic active constraints in surgery.
Identifieur interne : 000721 ( PubMed/Curation ); précédent : 000720; suivant : 000722Deformation invariant bounding spheres for dynamic active constraints in surgery.
Auteurs : Stuart A. Bowyer [Royaume-Uni] ; Ferdinando Rodriguez Y BaenaSource :
- Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine [ 2041-3033 ] ; 2014.
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Abstract
Active constraints are collaborative robot control strategies, which can be used to guide a surgeon or protect delicate tissue structures during robot-assisted surgery. Tissue structures of interest often move and deform throughout a surgical intervention, and therefore, dynamic active constraints, which adapt and conform to these changes, are required. A fundamental element of an active constraint controller is the computation of the geometric relationship between the constraint geometry and the surgical instrument. For a static active constraint, there are a variety of computationally efficient methods for computing this relative configuration; however, for a dynamic active constraint, it becomes significantly more challenging. Deformation invariant bounding spheres are a novel bounding volume formulation, which can be used within a hierarchy to allow efficient proximity queries within dynamic active constraints. These bounding spheres are constructed in such a way that as the surface deforms, they do not require time-consuming rebuilds or updates, rather they are implicitly updated and continue to represent the underlying geometry as it changes. Experimental results show that performing proximity queries with deformation invariant bounding sphere hierarchies is faster than common methods from the literature when the deformation rate is within the range expected from conventional imaging systems.
DOI: 10.1177/0954411914527440
PubMed: 24622983
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Bowyer</name><affiliation wicri:level="1"><nlm:affiliation>Department of Mechanical Engineering, Imperial College London, London, UK.</nlm:affiliation><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Department of Mechanical Engineering, Imperial College London, London</wicri:regionArea></affiliation></author><author><name sortKey="Rodriguez Y Baena, Ferdinando" sort="Rodriguez Y Baena, Ferdinando" uniqKey="Rodriguez Y Baena F" first="Ferdinando" last="Rodriguez Y Baena">Ferdinando Rodriguez Y Baena</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2014">2014</date><idno type="RBID">pubmed:24622983</idno><idno type="pmid">24622983</idno><idno type="doi">10.1177/0954411914527440</idno><idno type="wicri:Area/PubMed/Corpus">000721</idno><idno type="wicri:Area/PubMed/Curation">000721</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Deformation invariant bounding spheres for dynamic active constraints in surgery.</title><author><name sortKey="Bowyer, Stuart A" sort="Bowyer, Stuart A" uniqKey="Bowyer S" first="Stuart A" last="Bowyer">Stuart A. Bowyer</name><affiliation wicri:level="1"><nlm:affiliation>Department of Mechanical Engineering, Imperial College London, London, UK.</nlm:affiliation><country xml:lang="fr">Royaume-Uni</country><wicri:regionArea>Department of Mechanical Engineering, Imperial College London, London</wicri:regionArea></affiliation></author><author><name sortKey="Rodriguez Y Baena, Ferdinando" sort="Rodriguez Y Baena, Ferdinando" uniqKey="Rodriguez Y Baena F" first="Ferdinando" last="Rodriguez Y Baena">Ferdinando Rodriguez Y Baena</name></author></analytic><series><title level="j">Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine</title><idno type="eISSN">2041-3033</idno><imprint><date when="2014" type="published">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Humans</term><term>Image Processing, Computer-Assisted (methods)</term><term>Robotics (methods)</term><term>Surgery, Computer-Assisted (methods)</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Image Processing, Computer-Assisted</term><term>Robotics</term><term>Surgery, Computer-Assisted</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Humans</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Active constraints are collaborative robot control strategies, which can be used to guide a surgeon or protect delicate tissue structures during robot-assisted surgery. Tissue structures of interest often move and deform throughout a surgical intervention, and therefore, dynamic active constraints, which adapt and conform to these changes, are required. A fundamental element of an active constraint controller is the computation of the geometric relationship between the constraint geometry and the surgical instrument. For a static active constraint, there are a variety of computationally efficient methods for computing this relative configuration; however, for a dynamic active constraint, it becomes significantly more challenging. Deformation invariant bounding spheres are a novel bounding volume formulation, which can be used within a hierarchy to allow efficient proximity queries within dynamic active constraints. These bounding spheres are constructed in such a way that as the surface deforms, they do not require time-consuming rebuilds or updates, rather they are implicitly updated and continue to represent the underlying geometry as it changes. Experimental results show that performing proximity queries with deformation invariant bounding sphere hierarchies is faster than common methods from the literature when the deformation rate is within the range expected from conventional imaging systems.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">24622983</PMID><DateCreated><Year>2014</Year><Month>04</Month><Day>23</Day></DateCreated><DateCompleted><Year>2015</Year><Month>04</Month><Day>02</Day></DateCompleted><Article PubModel="Print-Electronic"><Journal><ISSN IssnType="Electronic">2041-3033</ISSN><JournalIssue CitedMedium="Internet"><Volume>228</Volume><Issue>4</Issue><PubDate><Year>2014</Year><Month>Apr</Month></PubDate></JournalIssue><Title>Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine</Title><ISOAbbreviation>Proc Inst Mech Eng H</ISOAbbreviation></Journal><ArticleTitle>Deformation invariant bounding spheres for dynamic active constraints in surgery.</ArticleTitle><Pagination><MedlinePgn>350-61</MedlinePgn></Pagination><ELocationID EIdType="doi" ValidYN="Y">10.1177/0954411914527440</ELocationID><Abstract><AbstractText>Active constraints are collaborative robot control strategies, which can be used to guide a surgeon or protect delicate tissue structures during robot-assisted surgery. Tissue structures of interest often move and deform throughout a surgical intervention, and therefore, dynamic active constraints, which adapt and conform to these changes, are required. A fundamental element of an active constraint controller is the computation of the geometric relationship between the constraint geometry and the surgical instrument. For a static active constraint, there are a variety of computationally efficient methods for computing this relative configuration; however, for a dynamic active constraint, it becomes significantly more challenging. Deformation invariant bounding spheres are a novel bounding volume formulation, which can be used within a hierarchy to allow efficient proximity queries within dynamic active constraints. These bounding spheres are constructed in such a way that as the surface deforms, they do not require time-consuming rebuilds or updates, rather they are implicitly updated and continue to represent the underlying geometry as it changes. Experimental results show that performing proximity queries with deformation invariant bounding sphere hierarchies is faster than common methods from the literature when the deformation rate is within the range expected from conventional imaging systems.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Bowyer</LastName><ForeName>Stuart A</ForeName><Initials>SA</Initials><AffiliationInfo><Affiliation>Department of Mechanical Engineering, Imperial College London, London, UK.</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Rodriguez Y Baena</LastName><ForeName>Ferdinando</ForeName><Initials>F</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType></PublicationTypeList><ArticleDate DateType="Electronic"><Year>2014</Year><Month>03</Month><Day>12</Day></ArticleDate></Article><MedlineJournalInfo><Country>England</Country><MedlineTA>Proc Inst Mech Eng H</MedlineTA><NlmUniqueID>8908934</NlmUniqueID><ISSNLinking>0954-4119</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D007091">Image Processing, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D025321">Surgery, Computer-Assisted</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading></MeshHeadingList><KeywordList Owner="NOTNLM"><Keyword MajorTopicYN="N">Virtual fixtures</Keyword><Keyword MajorTopicYN="N">haptic rendering</Keyword><Keyword MajorTopicYN="N">medical robotics</Keyword><Keyword MajorTopicYN="N">proximity querying</Keyword><Keyword MajorTopicYN="N">space-partitioning trees</Keyword></KeywordList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="aheadofprint"><Year>2014</Year><Month>3</Month><Day>12</Day></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2014</Year><Month>3</Month><Day>14</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="pubmed"><Year>2014</Year><Month>3</Month><Day>14</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2015</Year><Month>4</Month><Day>4</Day><Hour>6</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">24622983</ArticleId><ArticleId IdType="pii">0954411914527440</ArticleId><ArticleId IdType="doi">10.1177/0954411914527440</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
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