Simultaneous Registration and Stiffness mapping of a Flexible Environment using Stiffness and Geometric Prior
Conference Paper, Proceedings of Hamlyn Symposium on Medical Robotics, June, 2016
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
@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 = {Proceedings of Hamlyn Symposium on Medical Robotics},
year = {2016},
month = {June},
}
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