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Semantic Monocular Surgical SLAM: Intra-Operative 3D Reconstruction and Pre-Operative Registration in Dynamic Environments.
Andrea Roberti
Daniele Meli
Giacomo De Rossi
Riccardo Muradore
Paolo Fiorini
Published in:
ICAR (2023)
Keyphrases
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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