![](bga.png)
tual liver model follows the real liver. The same
translational movement is applied to the randomized
steepest descendent and simulated annealing
algorithms (Figure 10).
As shown in Figure 14, each overlapping ratio is
over 97% (nearly equals 100%). The variation in the
overlapping ratio under translational movement
(Figure 10) is shown in Figure 14. In almost all cases,
the poorest overlapping ratio obtained in the
simulated annealing algorithm is clearly better than
that obtained in the randomized steepest descendent
algorithm. Contrary to this, the overlapping ratios
generated by two lamps without any filter are almost
the same in the simulated annealing algorithm. As a
result, with respect to the translational operation of
liver surgery, the simulated annealing algorithm is
better but using the filters is experimentally
meaningless.
4 CONCLUSIONS
In this paper, we have given several comparative
results of depth-depth-image matching-based organ-
following algorithms. Compared with our previous
laboratory experiments, or without the addition of a
shadow-less lamp, this experiment can be applied to
real-life situations such as practical surgery as
follows: the organ is artificially occluded by another
object, and the surgical operation is performed on a
real surgical bed beside two shadow-less lamps. In
this research, in addition to the comparison of two
kinds of algorithms, we checked the usefulness of two
infrared shielding filters, SL999 and TS6080S. Based
on the results, we could determine that the simulated
annealing algorithm using the filter TS6080S is the
best.
At present, we are looking forward to using an
infrared filter, which can pass light of wavelength
between 700 nm and 1000 nm. In the near future, we
will try to verify the rotational or translational
following stability of our algorithm by using more
effective infrared shielding filters.
ACKNOWLEDGEMENTS
This study was partly supported by the 2014 Grants-
in-Aid for Scientific Research (No. 26289069) from
the Ministry of Education, Culture, Sports, Science
and Technology, Japan. The study was also supported
by the 2014 Cooperation Research Fund from the
Graduate School at Osaka Electro-Communication
University.
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