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Preoperative liver registration for augmented monocular laparoscopy using backward–forward biomechanical simulation

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Augmented reality for monocular laparoscopy from a preoperative volume such as CT is achieved in two steps. The first step is to segment the organ in the preoperative volume and reconstruct its 3D model. The second step is to register the preoperative 3D model to an initial intraoperative laparoscopy image. To date, there does not exist an automatic initial registration method to solve the second step for the liver in the de facto operating room conditions of monocular laparoscopy. Existing methods attempt to solve for both deformation and pose simultaneously, leading to nonconvex problems with no optimal solution algorithms.

Methods

We propose in contrast to break the problem down into two parts, solving for (i) deformation and (ii) pose. Part (i) simulates biomechanical deformations from the preoperative to the intraoperative state to predict the liver’s unknown intraoperative shape by modeling gravity, the abdominopelvic cavity’s pressure and boundary conditions. Part (ii) rigidly registers the simulated shape to the laparoscopy image using contour cues.

Results

Our formulation leads to a well-posed problem, contrary to existing methods. This is because it exploits strong environment priors to complement the weak laparoscopic visual cues.

Conclusion

Quantitative results with in silico and phantom experiments and qualitative results with laparosurgery images for two patients show that our method outperforms the state-of-the-art in accuracy and registration time.

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Authors and Affiliations

  1. EnCoV, IP, UMR 6602 CNRS, Universitè Clermont Auvergne, SIGMA, Aubière, France

    Erol Özgür, Bongjin Koo, Bertrand Le Roy, Emmanuel Buc & Adrien Bartoli

Authors
  1. Erol Özgür
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  2. Bongjin Koo
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  3. Bertrand Le Roy
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  4. Emmanuel Buc
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  5. Adrien Bartoli
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Corresponding author

Correspondence to Erol Özgür.

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Conflict of interest

The authors declare that they have no conflict of interest.

Ethical approval

All procedures involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki declaration and its later amendments or comparable ethical standards.

Informed consent

Informed consent was obtained from the patients included in the study.

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Özgür, E., Koo, B., Le Roy, B. et al. Preoperative liver registration for augmented monocular laparoscopy using backward–forward biomechanical simulation. Int J CARS 13, 1629–1640 (2018). https://doi.org/10.1007/s11548-018-1842-3

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  • DOI: https://doi.org/10.1007/s11548-018-1842-3

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