Titlebook: Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2005; 8th International Co James S. Duncan,Guido Gerig Conference proc

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Spatial Motion Constraints for Robot Assisted Suturing Using Virtual Fixtureslgorithm for suturing using guidance virtual fixtures (VF) that assist the surgeon to move towards a desired goal. A weighted multi-objective, constraint optimization framework is used to compute the joint motions required for the tasks. We show that with the help of VF, suturing can be performed at

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玩笑

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Laparoscope Self-calibration for Robotic Assisted Minimally Invasive Surgerytion, and prescribing active constraints. We propose in this paper a method for determining varying focal lengths of stereo laparoscope cameras during robotic surgery. Laparoscopic images typically feature dynamic scenes of soft-tissue deformation and self-calibration is difficult with existing appr

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Jocose

Soft-Tissue Motion Tracking and Structure Estimation for Robotic Assisted MIS Proceduresotion compensation and delivering active constraints. In this paper, we present a novel method for feature based motion tracking of deformable soft-tissue surfaces in totally endoscopic coronary artery bypass graft (TECAB) surgery. We combine two feature detectors to recover distinct regions on the

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Binge-Drinking

Invisible Shadow for Navigation and Planning in Minimal Invasive Surgerycially when the endoscopic instrument is in close proximity to the surface. Experiment results have shown that the method could potentially be used as an instrument navigation aid allowing accurate maneuvering of the instruments whilst minimizing tissue trauma.