Dynamic View Expansion for Minimally Invasive Surgery using Simultaneous Localization And Mapping

Navigation during Minimally Invasive Surgery (MIS) has recognized difficulties due to limited field-of-view, off-axis visualization and loss of direct 3D vision. This can cause visual-spatial disorientation when exploring complex in vivo structures. In this paper, we present an approach to dynamic view expansion which builds a 3D textured model of the MIS environment to facilitate in vivo navigation. With the proposed technique, no prior knowledge of the environment is required and the model is built sequentially while the laparoscope is moved. The method is validated on simulated data with known ground truth. Its potential clinical value is also demonstrated with in vivo experiments. http://www.youtube.com/watch?v=-finnXRy1HE

• Type: Conference
• Year: 2009
• Where: EMBC
• Authors: Peter Mountney and Guang-Zhong Yang
• Keywords: Augmented Reality, Dynamic View Expansion, EMBC 2009, Guidance, Image Guided Surgery, Medical, Minimally Invasive Surgery, MIS, Navigation, Simultaneous Localization And Mapping, SLAM, Surgery