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International Symposium on Visual Computing

ISVC 2011: Advances in Visual Computing pp 11–22Cite as

A Localization Framework under Non-rigid Deformation for Robotic Surgery

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Part of the book series: Lecture Notes in Computer Science ((LNIP,volume 6938))

Abstract

In surgery, it is common to open large incisions to remove tiny tumors. Now, robotic surgery has been well recognized for high precision. However, target localization is still a challenge, owing to non-rigid deformations. Thus, we propose a precise and flexible localization framework for an MRI-compatible needle-insertion robot. We primarily address with two problems: 1) How to predict the position after deformation? 2) How to turn MRI coordinate to real-world one? Correspondingly, the primary novelty is the non-rigid position transformation model based on Thin-Plate Splines. A minor contribution lies in the data acquisition for coordinate correspondences. We validate the precision of the whole framework, and each procedure of coordinate acquisition and position transformation. It is proven that the system under our framework can predict the position with a good approximation to the target’s real position.

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Author information

Authors and Affiliations

  1. Key Lab of Intelligent Information Processing of CAS, Institute of Computing Technology, Chinese Academy of Sciences (CAS), Beijing, China

    Xiang Xiang

Authors
  1. Xiang Xiang
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Editor information

Editors and Affiliations

  1. University of Nevada, 89557, Reno, NV, USA

    George Bebis

  2. NASA Ames Research Center, 94035, Moffett Field, CA, USA

    Richard Boyle

  3. Lawrence Berkeley National Laboratory, 94720, Berkeley, CA, USA

    Bahram Parvin

  4. Desert Research Institute, 89512, Reno, NV, USA

    Darko Koracin

  5. Department of Computer Science and Engineering, University of South Carolina, 29208, Columbia, SC, USA

    Song Wang

  6. HRL Laboratories, 3011 Malibu Canyon Road, 90265-4797, Malibu, CA, USA

    Kim Kyungnam

  7. Purdue University, 47907-2021, West Lafayette, IN, USA

    Bedrich Benes

  8. Sandia National Laboratory, 87185, Albuquerque, NM, USA

    Kenneth Moreland

  9. University of Louisiana, 70504, Lafayette, LA, USA

    Christoph Borst

  10. Adobe Systems Incorporated, San Francisco, CA, USA

    Stephen DiVerdi

  11. Polytechnic Institute of NYU, 11201, Brooklyn, NY, USA

    Chiang Yi-Jen

  12. Lawrence Livermore National Laboratory, 94551-0808, Livermore, CA, USA

    Jiang Ming

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© 2011 Springer-Verlag Berlin Heidelberg

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Xiang, X. (2011). A Localization Framework under Non-rigid Deformation for Robotic Surgery. In: Bebis, G., et al. Advances in Visual Computing. ISVC 2011. Lecture Notes in Computer Science, vol 6938. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-24028-7_2

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  • DOI: https://doi.org/10.1007/978-3-642-24028-7_2

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-24027-0

  • Online ISBN: 978-3-642-24028-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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