Algorithm Experimental Evaluation for an Occluded Liver with/without Shadow-Less Lamps and Invisible Light Filter in a Surgical Room
In this paper, we investigate our proposed motion transcription algorithm that helps develop a virtual liver model from a real liver; the virtual liver is designed using the STL-polyhedron in an experimental surgical room. If we do not use any shadow-less lamps in the room, the algorithm correctly copies the translational/rotational motions from the real liver to the virtual liver. However, if we use one or two shadow-less lamps during the surgery, the copy quality decreases significantly, and consequently, our surgical navigation is sometime dammed. To overcome this problem, we attempted to overlap the shadow-less lamps with light-blocking filters. The purpose of using the light-blocking filter is to eliminate the unsuitable wavelength of shadow-less light for our camera system, the Microsoft Kinect v2. It is equipped with three types of cameras: an RGB camera, an infrared camera, and an infrared laser projector. The Microsoft Kinect v2 detects the infrared rays reflected from the object in front of it, estimates all the depth distances within all the pixels, and tracks 3D objects with several shapes. As a result, using one of the two light blocking filters, the camera Microsoft Kinect v2 captures all depths at all pixels stably on a 3D liver model, and consequently, our motion transcription algorithm plays an active role in the experimental procedure.
KeywordsOccluded liver experimentation Shadow-less lamp Invisible light filter
This study was supported partly 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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