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Authors: Mingxing Hu 1 ; David J. Hawkes 1 ; Graeme P. Penney 2 ; Daniel Rueckert 3 ; Philip J. Edwards 4 ; Fernado Bello 4 ; Michael Figl 3 and Roberto Casula 5

Affiliations: 1 Centre for Medical Image Computing, University College London, United Kingdom ; 2 Department of Imaging Sciences, King’s College London, United Kingdom ; 3 Department of Computing, Imperial College, United Kingdom ; 4 Department of Surgical Oncology and Technology, Imperial College, United Kingdom ; 5 Cardiothoracic Surgery, St. Mary’s Hospital, United Kingdom

Keyword(s): Video Mosaicing, Robotic Assisted Minimally Invasive Surgery, Homography, Trifocal Tensor, Bundle Adjustment.

Related Ontology Subjects/Areas/Topics: Image Processing ; Informatics in Control, Automation and Robotics ; Robotics and Automation ; Vision, Recognition and Reconstruction

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 several formats:
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; ISSN 2184-2809, SciTePress, pages 206-211. DOI: 10.5220/0002928902060211

@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},
issn={2184-2809},
}

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
IS - 2184-2809
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
PB - SciTePress

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