Semantic Monocular Surgical SLAM: Intra-Operative 3D Reconstruction and Pre-Operative Registration in Dynamic Environments.
Andrea RobertiDaniele MeliGiacomo De RossiRiccardo MuradorePaolo FioriniPublished in: ICAR (2023)
Keyphrases
- dynamic environments
- visual slam
- intraoperative
- pre operative
- image guided surgery
- image guided
- target registration error
- intra operatively
- x ray
- clinical applications
- brain shift
- simultaneous localization and mapping
- computer assisted
- left atrium
- contrast enhanced
- surgical navigation
- tissue deformation
- mobile robot
- fluoroscopic images
- image guided interventions
- ct data
- mr images
- post operative
- surgical procedures
- biomechanical model
- minimally invasive
- cardiac cycle
- deep brain stimulation
- surgical tools
- minimally invasive surgery
- path planning
- patient data
- surgical instruments
- cardiac motion
- imaging modalities
- position and orientation
- operating room
- patient specific
- image registration
- three dimensional
- pose estimation
- atrial fibrillation
- respiratory motion
- magnetic resonance images
- ct scans