Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments
Complementary model update: A method for simultaneous registration and stiffness mapping in flexible environments
复制标题
补充模型更新：灵活环境中同时配准和刚度映射的方法
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
H. Choset
中科院分区：
文献类型：
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作者：
Rangaprasad Arun Srivatsan;E. Ayvali;Long Wang;R. Roy;N. Simaan;H. Choset
将手术工具配准到环境的先验模型是计算机辅助手术中重要的第一步。在本文中，我们提出了一种方法，同时注册和刚度映射使用盲目探索灵活的环境。在柔性环境的基于接触的探索期间，与环境的物理交互可以引起局部变形，如果不考虑的话，则导致错误的配准。为了克服这个问题，一种新的配准方法称为互补模型更新（CMU），介绍。通过结合测量的接触力，和接触位置，我们最小化一个独特的目标函数，以抵消局部变形的影响。因此，我们能够获得必要的注册参数使用的几何形状和刚度信息。所提出的CMU方法在模拟和使用通过探测硅胶模型和离体器官获得的实验数据中进行评估。
Registering a surgical tool to an a priori model of the environment is an important first step in computer-aided surgery. In this paper we present an approach for simultaneous registration and stiffness mapping using blind exploration of flexible environments. During contact-based exploration of flexible environments, the physical interaction with the environment can induce local deformation, leading to erroneous registration if not accounted for. To overcome this issue, a new registration method called complementary model update (CMU), is introduced. By incorporating measurements of the contact force, and contact location, we minimize a unique objective function to cancel out the effect of local deformation. We are thus able to acquire the necessary registration parameters using both geometry and stiffness information. The proposed CMU method is evaluated in simulation and using experimental data obtained by probing silicone models and an ex vivo organ.
使用体积真实 3D 超声进行术中患者登记，无需基准点。
影响因子：
3.8
作者：
Ji,Songbai;Roberts,DavidW;Hartov,Alex;Paulsen,KeithD
通讯作者：
Paulsen,KeithD