Environment-aware non-rigid registration in surgery using physics-based simulation

Antoine Petit 1 Stéphane Cotin 2
2 SHACRA - Simulation in Healthcare using Computer Research Advances
LIFL - Laboratoire d'Informatique Fondamentale de Lille, Inria Lille - Nord Europe, Inria Nancy - Grand Est
Abstract : This paper presents a system for capturing the deformations of soft objects undergoing elastic deformations and contacts with their environment, using image and point cloud data provided by an RGB-D sensor. We improve upon previous works by integrating environment constraints in the frame-by-frame registration process. The approach combines a physics-based elastic model of the considered objects, computed in real-time using an optimized Finite Element Method (FEM), which is driven by surface constraints on the objects. Additional forces, such as gravity are added. A case study in open surgery on the liver is here described. Yet in this case a major improvement in the accuracy of the registration is provided by the integration of anatomical shape constraints, which are naturally hidden from the RGB-D camera, and that we account for through a registration with the pre-operative CT data. With a comparative study, we demonstrate the relevance of our method in a real world application mimicking an open surgery scenario where the liver has to be tracked to provide an augmented reality view.
Type de document :
Communication dans un congrès
ACCV 2018 - 14th Asian Conference on Computer Vision, Dec 2018, Perth, Australia
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Contributeur : Antoine Petit <>
Soumis le : mercredi 21 novembre 2018 - 19:23:39
Dernière modification le : jeudi 21 février 2019 - 10:52:54
Document(s) archivé(s) le : vendredi 22 février 2019 - 16:31:28


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  • HAL Id : hal-01930366, version 1



Antoine Petit, Stéphane Cotin. Environment-aware non-rigid registration in surgery using physics-based simulation. ACCV 2018 - 14th Asian Conference on Computer Vision, Dec 2018, Perth, Australia. 〈hal-01930366〉



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