Towards retrieving force feedback in robotic-assisted surgery: a supervised neuro-recurrent-vision approach

Robotic-assisted minimally invasive surgeries have gained a lot of popularity over conventional procedures as they offer many benefits to both surgeons and patients. Nonetheless, they still suffer from some limitations that affect their outcome. One of them is the lack of force feedback which restricts the surgeon's sense of touch and might reduce precision during a procedure. To overcome this limitation, we propose a novel force estimation approach that combines a vision based solution with supervised learning to estimate the applied force and provide the surgeon with a suitable representation of it. The proposed solution starts with extracting the geometry of motion of the heart's surface by minimizing an energy functional to recover its 3D deformable structure. A deep network, based on a LSTM-RNN architecture, is then used to learn the relationship between the extracted visual-geometric information and the applied force, and to find accurate mapping between the two. Our proposed force estimation solution avoids the drawbacks usually associated with force sensing devices, such as biocompatibility and integration issues. We evaluate our approach on phantom and realistic tissues in which we report an average root-mean square error of 0.02 N.Peer ReviewedPostprint (author's final draft

Creating Simplified 3D Models with High Quality Textures

This paper presents an extension to the KinectFusion algorithm which allows creating simplified 3D models with high quality RGB textures. This is achieved through (i) creating model textures using images from an HD RGB camera that is calibrated with Kinect depth camera, (ii) using a modified scheme to update model textures in an asymmetrical colour volume that contains a higher number of voxels than that of the geometry volume, (iii) simplifying dense polygon mesh model using quadric-based mesh decimation algorithm, and (iv) creating and mapping 2D textures to every polygon in the output 3D model. The proposed method is implemented in real-time by means of GPU parallel processing. Visualization via ray casting of both geometry and colour volumes provides users with a real-time feedback of the currently scanned 3D model. Experimental results show that the proposed method is capable of keeping the model texture quality even for a heavily decimated model and that, when reconstructing small objects, photorealistic RGB textures can still be reconstructed.Comment: 2015 International Conference on Digital Image Computing: Techniques and Applications (DICTA), Page 1 -

Domain and Geometry Agnostic CNNs for Left Atrium Segmentation in 3D Ultrasound

Segmentation of the left atrium and deriving its size can help to predict and detect various cardiovascular conditions. Automation of this process in 3D Ultrasound image data is desirable, since manual delineations are time-consuming, challenging and observer-dependent. Convolutional neural networks have made improvements in computer vision and in medical image analysis. They have successfully been applied to segmentation tasks and were extended to work on volumetric data. In this paper we introduce a combined deep-learning based approach on volumetric segmentation in Ultrasound acquisitions with incorporation of prior knowledge about left atrial shape and imaging device. The results show, that including a shape prior helps the domain adaptation and the accuracy of segmentation is further increased with adversarial learning

Adaptive transfer functions: improved multiresolution visualization of medical models

The final publication is available at Springer via http://dx.doi.org/10.1007/s00371-016-1253-9Medical datasets are continuously increasing in size. Although larger models may be available for certain research purposes, in the common clinical practice the models are usually of up to 512x512x2000 voxels. These resolutions exceed the capabilities of conventional GPUs, the ones usually found in the medical doctors’ desktop PCs. Commercial solutions typically reduce the data by downsampling the dataset iteratively until it fits the available target specifications. The data loss reduces the visualization quality and this is not commonly compensated with other actions that might alleviate its effects. In this paper, we propose adaptive transfer functions, an algorithm that improves the transfer function in downsampled multiresolution models so that the quality of renderings is highly improved. The technique is simple and lightweight, and it is suitable, not only to visualize huge models that would not fit in a GPU, but also to render not-so-large models in mobile GPUs, which are less capable than their desktop counterparts. Moreover, it can also be used to accelerate rendering frame rates using lower levels of the multiresolution hierarchy while still maintaining high-quality results in a focus and context approach. We also show an evaluation of these results based on perceptual metrics.Peer ReviewedPostprint (author's final draft