/Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior

Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior

Arun Srivatsan Rangaprasad, Long Wang, Elif Ayvali, Nabil Simaan and Howie Choset
Conference Paper, The Hamlyn Symposium on Medical Robotics, 2016, June, 2016

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Abstract

In minimally invasive surgeries (MIS), surgeons have limited situational awareness of the surgical environment, making navigation a challenging task. Registration of preoperative images to intra-operative anatomy can help improve the situational awareness of the surgeon and validate if the surgery is going as per the preoperative plan. In this work, we use prior information about stiffness and geometry of the organ to develop an implementation for simultaneous registration and stiffness mapping.

BibTeX Reference
@conference{Rangaprasad-2016-5548,
author = {Arun Srivatsan Rangaprasad and Long Wang and Elif Ayvali and Nabil Simaan and Howie Choset},
title = {Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior},
booktitle = {The Hamlyn Symposium on Medical Robotics, 2016},
year = {2016},
month = {June},
}
2017-09-13T10:38:22+00:00