Section: New Results

Marker-Based Registration for Large Deformations

We proposed an Augmented Reality (AR) system for open liver surgery (see Fig. 8). Although open surgery remains the gold-standard for the treatment of complex tumors and central lesions, technological issues actually prevent using AR with sufficient accuracy for clinical use. We propose a markers-based method allowing for the tracking and the deformation of a preoperative model in real-time during the surgery. Markers are manually placed on the surface of the organ after opening the abdominal cavity, and tracked in real-time by a set of infrared cameras. Our framework is composed of both a non-rigid initial registration method, providing an estimation of the location of the markers in the preoperative model, and a real-time tracking algorithm to deform the model during the surgery (even for large deformation or partial occlusion of the organ). The method is validated on both synthetic and ex-vivo samples; in addition, we demonstrate its applicability in the operating room during a liver resection surgery on a human patient. Preliminary studies provided promising results to improve the location of tumors, and to help surgeons into planning the ideal resection intraoperatively.

Figure 8. Figure 3: Research prototype for Augmented Reality during open surgery of the liver. We pro-posed a method based on markers for the registration of a preoperative model in real time during surgery. The markers are placed manually on the surface of the body after the opening of the abdominal cavity, and followed in real time by a set of infrared cameras.

• Authors: Yinoussa Adagolodjo, Nicolas Golse, Eric Vibert, Michel De Mathelin, Stéphane Cotin, Hadrien Courtecuisse

• Type: PhD Thesis, publication to ICRA