Stereo vision-based tracking of soft tissue motion with application to online ablation control in laser microsurgery

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dc.identifier.uri Schoob, Andreas Kundrat, Dennis Kahrs, Lüder Alexander Ortmaier, Tobias 2017-07-14T12:33:38Z 2017-07-14T12:33:38Z 2017
dc.identifier.citation Schoob, A.; Kundrat, D.; Kahrs, L.A.; Ortmaier, T.: Stereo vision-based tracking of soft tissue motion with application to online ablation control in laser microsurgery. In: Medical Image Analysis 40 (2017), S. 80-95. DOI:
dc.description.abstract Recent research has revealed that image-based methods can enhance accuracy and safety in laser microsurgery. In this study, non-rigid tracking using surgical stereo imaging and its application to laser ablation is discussed. A recently developed motion estimation framework based on piecewise affine deformation modeling is extended by a mesh refinement step and considering texture information. This compensates for tracking inaccuracies potentially caused by inconsistent feature matches or drift. To facilitate online application of the method, computational load is reduced by concurrent processing and affine-invariant fusion of tracking and refinement results. The residual latency-dependent tracking error is further minimized by Kalman filter-based upsampling, considering a motion model in disparity space. Accuracy is assessed in laparoscopic, beating heart, and laryngeal sequences with challenging conditions, such as partial occlusions and significant deformation. Performance is compared with that of state-of-the-art methods. In addition, the online capability of the method is evaluated by tracking two motion patterns performed by a high-precision parallel-kinematic platform. Related experiments are discussed for tissue substitute and porcine soft tissue in order to compare performances in an ideal scenario and in a setup mimicking clinical conditions. Regarding the soft tissue trial, the tracking error can be significantly reduced from 0.72 mm to below 0.05 mm with mesh refinement. To demonstrate online laser path adaptation during ablation, the non-rigid tracking framework is integrated into a setup consisting of a surgical Er:YAG laser, a three-axis scanning unit, and a low-noise stereo camera. Regardless of the error source, such as laser-to-camera registration, camera calibration, image-based tracking, and scanning latency, the ablation root mean square error is kept below 0.21 mm when the sample moves according to the aforementioned patterns. Final experiments regarding motion-compensated laser ablation of structurally deforming tissue highlight the potential of the method for vision-guided laser surgery. eng
dc.description.sponsorship EU/FP/-ICT/288663
dc.language.iso eng
dc.publisher Amsterdam : Elsevier BV
dc.relation.ispartofseries Medical Image Analysis 40 (2017)
dc.rights CC BY 4.0
dc.subject Epipolar constraint eng
dc.subject Motion compensation eng
dc.subject Non-rigid tracking eng
dc.subject Stereo vision eng
dc.subject Ablation eng
dc.subject Cameras eng
dc.subject Deformation eng
dc.subject End effectors eng
dc.subject Errors eng
dc.subject Laser ablation eng
dc.subject Laser safety eng
dc.subject Laser surgery eng
dc.subject Mean square error eng
dc.subject Mesh generation eng
dc.subject Motion compensation eng
dc.subject Motion estimation eng
dc.subject Stereo image processing eng
dc.subject Surgery eng
dc.subject Tissue eng
dc.subject Tissue engineering eng
dc.subject Concurrent processing eng
dc.subject Epipolar constraints eng
dc.subject Image based tracking eng
dc.subject Non-rigid tracking eng
dc.subject On-line applications eng
dc.subject Root mean square errors eng
dc.subject State-of-the-art methods eng
dc.subject Vision-based tracking eng
dc.subject Stereo vision eng
dc.subject.ddc 610 | Medizin, Gesundheit ger
dc.title Stereo vision-based tracking of soft tissue motion with application to online ablation control in laser microsurgery
dc.type article
dc.type Text
dc.relation.issn 1361-8415
dc.bibliographicCitation.volume 40
dc.bibliographicCitation.firstPage 80
dc.bibliographicCitation.lastPage 95
dc.description.version publishedVersion
tib.accessRights frei zug�nglich

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