@inproceedings{a51e6d46db4047f58280c60c9cf35213,
title = "Photo-consistency registration of a 4D cardiac motion model to endoscopic video for image guidance of robotic coronary artery bypass",
abstract = "The aim of the work described in this paper is registration of a 4D preoperative motion model of the heart to the video view of the patient through the intraoperative endoscope. The heart motion is cyclical and can be modelled using multiple reconstructions of cardiac gated coronary CT.We propose the use of photoconsistency between the two views through the da Vinci endoscope to align to the preoperative heart surface model from CT. The temporal alignment from the video to the CT model could in principle be obtained from the ECG signal. We propose averaging of the photoconsistency over the cardiac cycle to improve the registration compared to a single view. Though there is considerable motion of the heart, after correct temporal alignment we suggest that the remaining motion should be close to rigid. Results are presented for simulated renderings and for real video of a beating heart phantom. We found much smoother sections at the minimum when using multiple phases for the registration, furthermore convergence was found to be better when more phases are used.",
keywords = "Endoscopic procedures, Enhanced reality, Image-guided therapy, Medical robotics, Registration",
author = "Michael Fig and Daniel Rueckert and Eddie Edwards",
year = "2009",
doi = "10.1117/12.813905",
language = "English",
isbn = "9780819475121",
series = "Progress in Biomedical Optics and Imaging - Proceedings of SPIE",
booktitle = "Medical Imaging 2009",
note = "Medical Imaging 2009: Biomedical Applications in Molecular, Structural, and Functional Imaging ; Conference date: 08-02-2009 Through 10-02-2009",
}