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Proceedings Paper

Augmented reality image guidance for minimally invasive coronary artery bypass
Author(s): Michael Figl; Daniel Rueckert; David Hawkes; Roberto Casula; Mingxing Hu; Ose Pedro; Dong Ping Zhang; Graeme Penney; Fernando Bello; Philip Edwards
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Paper Abstract

We propose a novel system for image guidance in totally endoscopic coronary artery bypass (TECAB). A key requirement is the availability of 2D-3D registration techniques that can deal with non-rigid motion and deformation. Image guidance for TECAB is mainly required before the mechanical stabilization of the heart, thus the most dominant source of non-rigid deformation is the motion of the beating heart. To augment the images in the endoscope of the da Vinci robot, we have to find the transformation from the coordinate system of the preoperative imaging modality to the system of the endoscopic cameras. In a first step we build a 4D motion model of the beating heart. Intraoperatively we can use the ECG or video processing to determine the phase of the cardiac cycle. We can then take the heart surface from the motion model and register it to the stereo-endoscopic images of the da Vinci robot using 2D-3D registration methods. We are investigating robust feature tracking and intensity-based methods for this purpose. Images of the vessels available in the preoperative coordinate system can then be transformed to the camera system and projected into the calibrated endoscope view using two video mixers with chroma keying. It is hoped that the augmented view can improve the efficiency of TECAB surgery and reduce the conversion rate to more conventional procedures.

Paper Details

Date Published: 17 March 2008
PDF: 7 pages
Proc. SPIE 6918, Medical Imaging 2008: Visualization, Image-Guided Procedures, and Modeling, 69180P (17 March 2008); doi: 10.1117/12.774788
Show Author Affiliations
Michael Figl, Imperial College London (United Kingdom)
Daniel Rueckert, Imperial College London (United Kingdom)
David Hawkes, Univ. College London (United Kingdom)
Roberto Casula, St. Mary's Hospital (United Kingdom)
Mingxing Hu, Univ. College London (United Kingdom)
Ose Pedro, Imperial College London (United Kingdom)
Dong Ping Zhang, Imperial College London (United Kingdom)
Graeme Penney, King's College London (United Kingdom)
Fernando Bello, Imperial College London (United Kingdom)
Philip Edwards, Imperial College London (United Kingdom)

Published in SPIE Proceedings Vol. 6918:
Medical Imaging 2008: Visualization, Image-Guided Procedures, and Modeling
Michael I. Miga; Kevin Robert Cleary, Editor(s)

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