Illumination position estimation for 3D soft-tissue reconstruction in robotic minimally invasive surgery.
Danail StoyanovDaniel S. ElsonGuang-Zhong YangPublished in: IROS (2009)
Keyphrases
- minimally invasive surgery
- soft tissue
- position estimation
- autonomous navigation
- medical images
- finite element
- mobile robot
- magnetic resonance
- deformable models
- robotic assisted
- robotic systems
- image registration
- surgical tools
- position and orientation
- degrees of freedom
- tissue deformation
- mr images
- surgical procedures
- minimally invasive
- intraoperative
- three dimensional
- automatic segmentation
- image data
- robotic arm
- path planning
- dynamic environments
- pose estimation