Int J Med Robot - Image mapping of untracked free-hand endoscopic views to an ultrasound image-constructed 3D placenta model.

Tópicos

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Resumo

CKGROUND: This study presents a tracker-less image-mapping framework for surgical navigation motivated by the clinical need for intuitive visual guidance during minimally invasive fetoscopic surgery.METHODS: A navigation framework mapping 2D endoscopic vision to a 3D ultrasound image model is proposed. This maps an endoscopic image onto a 3D placenta model through a one-time ultrasound image-based localization method followed by a series of concurrent image alignments and texture mapping of the untracked endoscopic video stream.RESULTS: The mean absolute error of our ultrasound image-based localization method was (1.63mm, 0.93?). The simulation analysis reveals an upper bound mapping performance with a mean error of 1.53mm. In a phantom experiment, the overall mapping performance is close to this accuracy and achieves a mean absolute error of 2mm, thereby supporting the feasibility of this method.CONCLUSION: This novel integration of intraoperative visual guidance has potential contributions to innovative fusions of image guidance techniques for effective navigation in minimally invasive fetoscopic surgery.

Resumo Limpo

ckground studi present trackerless imagemap framework surgic navig motiv clinic need intuit visual guidanc minim invas fetoscop surgerymethod navig framework map d endoscop vision d ultrasound imag model propos map endoscop imag onto d placenta model onetim ultrasound imagebas local method follow seri concurr imag align textur map untrack endoscop video streamresult mean absolut error ultrasound imagebas local method mm simul analysi reveal upper bound map perform mean error mm phantom experi overal map perform close accuraci achiev mean absolut error mm therebi support feasibl methodconclus novel integr intraop visual guidanc potenti contribut innov fusion imag guidanc techniqu effect navig minim invas fetoscop surgeri

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