Non-rigid reconstruction of the beating heart surface for minimally invasive cardiac surgery.
Non-rigid reconstruction of the beating heart surface for minimally invasive cardiac surgery.
复制标题
用于微创心脏手术的跳动心脏表面的非刚性重建。
DOI：
10.1007/978-3-642-04268-3_5
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发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Hu M
中科院分区：
文献类型：
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作者：
Hu M
本文提出了一种基于非刚性运动结构技术的心脏跳动表面重建方法。首先，从原始图像序列中自动提取每个心动周期内同一相位的图像，以降低变形子空间的维数。然后将剩余的非刚性运动限制在一个低维子空间内，并使用概率模型同时恢复3D结构和相机运动。基于重投影误差迭代地去除离群值。丢失的数据也恢复与期望最大化算法。因此，摄像机可以在手术场景周围移动，以构建具有宽视场的3D表面，用于术中手术。该方法已被评估与合成数据，心脏体模数据，并在体内数据从ada的心脏外科手术系统。
This paper presents a new method to reconstruct the beating heart surface based on the non-rigid structure from motion technique using preprocessed endoscopic images. First the images captured at the same phase within each heart cycle are automatically extracted from the original image sequence to reduce the dimension of the deformation subspace. Then the remaining residual non-rigid motion is restricted to lie within a low-dimensional subspace and a probabilistic model is used to recover the 3D structure and camera motion simultaneously. Outliers are removed iteratively based on the reprojection error. Missing data are also recovered with an Expectation Maximization algorithm. As a result the camera can move around the operation scene to build a 3D surface with a wide field-of-view for intra-operative procedures. The method has been evaluated with synthetic data, heart phantom data, and in vivo data from ada Vincisurgical system.