A ROBUST MOSAICING METHOD FOR ROBOTIC ASSISTED MINIMALLY INVASIVE SURGERY

Mingxing Hu, David J. Hawkes, Graeme P. Penney, Daniel Rueckert, Philip J. Edwards, Fernado Bello, Michael Figl, Roberto Casula

Abstract

Constructing a mosaicing image with broader field-of-view has become an interesting topic in image guided diagnosis and treatment. In this paper, we present a robust method for video mosaicing in order to provide more guiding information for robotic assisted minimally invasive surgery. Outliers involved in the feature dataset are removed using trifocal constraints, homographies between images are estimated with -norm optimization and chained together in a practical way. Finally refinement based on bundle adjustment is applied to minimize the error between reprojection and feature measurement. The proposed method has been tested with endoscopic images from Totally Endoscopic Coronary Artery Bypass (TECAB) surgery. The results showed our method performs better than other typical methods in terms of accuracy and robustness to deformation.

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Paper Citation


in Harvard Style

Hu M., Hawkes D., Penney G., Rueckert D., Edwards P., Bello F., Figl M. and Casula R. (2010). A ROBUST MOSAICING METHOD FOR ROBOTIC ASSISTED MINIMALLY INVASIVE SURGERY . In Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-01-0, pages 206-211. DOI: 10.5220/0002928902060211


in Bibtex Style

@conference{icinco10,
author={Mingxing Hu and David J. Hawkes and Graeme P. Penney and Daniel Rueckert and Philip J. Edwards and Fernado Bello and Michael Figl and Roberto Casula},
title={A ROBUST MOSAICING METHOD FOR ROBOTIC ASSISTED MINIMALLY INVASIVE SURGERY},
booktitle={Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2010},
pages={206-211},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0002928902060211},
isbn={978-989-8425-01-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 7th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - A ROBUST MOSAICING METHOD FOR ROBOTIC ASSISTED MINIMALLY INVASIVE SURGERY
SN - 978-989-8425-01-0
AU - Hu M.
AU - Hawkes D.
AU - Penney G.
AU - Rueckert D.
AU - Edwards P.
AU - Bello F.
AU - Figl M.
AU - Casula R.
PY - 2010
SP - 206
EP - 211
DO - 10.5220/0002928902060211