4 accepted papers
We present a method for estimating visual and haptic force feedback on robotic surgical systems that currently do not include significant force feedback for the operator. Our approach permits to compute contact forces between instruments and tissues without additional sensors, relying only on endosc
In this paper we introduce a method for semiautomatic registration of 3D deformable models using 2D shape outlines (silhouettes) extracted from a monocular camera view. Our framework is based on the combination of a biomechanical model of the organ with a set of projective constraints influencing th…
We present in this paper an efficient template-based method for 3D recovery of elastic shapes from a fixed monocular camera. By exploiting the object's elasticity, in contrast to isometric methods that use inextensibility constraints, a large range of deformations can be handled. Our method is expre…
We address in this paper the ill-posed problem of initial alignment of pre-operative to intra-operative data for augmented reality during minimally invasive hepatic surgery. This problem consists of finding the rigid transformation that relates the scanning reference and the endoscopic camera pose,…