Combining Visual Cues with Interactions for 3D–2D Registration in Liver Laparoscopy - Université Clermont Auvergne Access content directly
Journal Articles Annals of Biomedical Engineering Year : 2020

Combining Visual Cues with Interactions for 3D–2D Registration in Liver Laparoscopy

Yamid Espinel
  • Function : Author
Erol Ozgür
Lilian Calvet
  • Function : Author
  • PersonId : 1290514
  • IdRef : 179718436
Bertrand Le Roy
Adrien Bartoli
  • Function : Author
  • PersonId : 834920

Abstract

Augmented Reality (AR) in monocular liver laparoscopy requires one to register a preoperative 3D liver model to a laparoscopy image. This is a difficult problem because the preoperative shape may significantly differ from the unknown intraoperative shape and the liver is only partially visible in the laparoscopy image. Previous approaches are either manual, using a rigid model, or automatic, using visual cues and a biomechanical model. We propose a new approach called the hybrid approach combining the best of both worlds. The visual cues allow us to capture the machine perception while user interaction allows us to take advantage of the surgeon's prior knowledge and spatial understanding of the patient anatomy. The registration accuracy and repeatability were evaluated on phantom, animal ex vivo and patient data respectively. The proposed registration outperforms the state of the art methods both in terms of accuracy and repeatability. An average registration error below the 1 cm oncologic margin advised in the literature for tumour resection in laparoscopy hepatectomy was obtained.
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hal-02866682 , version 1 (12-06-2020)

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Yamid Espinel, Erol Ozgür, Lilian Calvet, Bertrand Le Roy, Emmanuel Buc, et al.. Combining Visual Cues with Interactions for 3D–2D Registration in Liver Laparoscopy. Annals of Biomedical Engineering, 2020, 48 (6), pp.1712-1727. ⟨10.1007/s10439-020-02479-z⟩. ⟨hal-02866682⟩
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