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This work presents a predictive-control approach to active mechanical filtering of complex, periodic motions of organs induced by respiration or heart beating in robotized surgery. Two different predictive-control schemes are proposed for the compensation of respiratory motions or cardiac motions. For respiratory motions, the periodic property of the(More)
OBJECTIVE To improve the planning of hepatic surgery, we have developed a fully automatic anatomical, pathological, and functional segmentation of the liver derived from a spiral CT scan. MATERIALS AND METHODS From a 2 mm-thick enhanced spiral CT scan, the first stage automatically delineates skin, bones, lungs, kidneys, and spleen by combining the use of(More)
Radiofrequency ablation is increasingly used in the treatment of hepatic tumors. Planning the percutaneous intervention is essential and particularly difficult. In this paper, we focus on an automated computation of optimal needle insertion in computer-assisted surgery with 3D visualization. First, we review our method which delineates on the skin of a(More)
Minimally invasive surgery represents one of the main evolutions of surgical techniques aimed at providing a greater benefit to the patient. However, minimally invasive surgery increases the operative difficulty since the depth perception is usually dramatically reduced, the field of view is limited and the sense of touch is transmitted by an instrument.(More)
This paper presents a robotic vision system that automatically retrieves and positions surgical instruments during robotized laparoscopic surgical operations. The instrument is mounted on the end-effector of a surgical robot which is controlled by visual servoing. The goal of the automated task is to safely bring the instrument at a desired(More)
This work presents first in-vivo results of beating heart tracking with a surgical robot arm in off-pump cardiac surgery. The tracking is performed in a 2D visual servoing scheme using a 500 frame per second video camera. Heart motion is measured by means of active optical markers that are put onto the heart surface. Amplitude of the motion is evaluated(More)
For radiofrequency ablation (RFA) of liver tumors, evaluation of vascular architecture, post-RFA necrosis prediction, and the choice of a suitable needle placement strategy using conventional radiological techniques remain difficult. In an attempt to enhance the safety of RFA, a 3D simulator, treatment planning, and training tool, that simulates the(More)
Medical image processing led to a major improvement of patient care: the 3D modeling of patients from their CT-scan or MRI provides an improved surgical planning and simulation allows to train the surgical gesture before carrying it out. These two preoperative steps can be used intra-operatively with the development of augmented reality (AR). In this paper,(More)
Percutaneous radiofrequency ablation has become a frequently used technique for the treatment of liver cancers, but still remains very difficult to plan. In this paper, we propose a robust method to delineate on the skin of a 3D reconstructed patient the zones that are candidate for an insertion, because they allow a safe access to the tumor without meeting(More)