NDLI: Understanding soft tissue behavior for microlaparoscopic surface scan

Content Provider	IEEE Xplore Digital Library
Author	Erden, M.S. Rosa, B. Szewczyk, J. Morel, G.
Copyright Year	2012
Description	Author affiliation: LASA Laboratory at the Engineering School of École Polytechnique Fédérale de Lausanne, CH 1015, Switzerland (Erden, M.S.) \|\| ISIR at UPMC, Paris, France (Rosa, B.; Szewczyk, J.; Morel, G.)
Abstract	This paper presents an approach for understanding the soft tissue behavior in surface contact with a hard object scanning the tissue. The application domain is confocal microlaparoscope imaging, mostly used for imaging the outer surface of the organs in the abdominal cavity. The probe (optic-head) is swept over the tissue to collect sequential images to obtain a large field of view with mosaicing. The problem we address is that the tissue also moves with the probe due to its softness; therefore the resulting mosaic is not in the same shape and dimension as traversed by the probe. Our approach inspires from the finger slip studies and adapts the idea of load-and-slip that explains the movement of the finger when dragged on a hard surface. We propose the concept of loading-distance and perform measurements with in total 84 experiments on beef liver and chicken breast tissues. Our results indicate that the loading-distance can be measured prior to a scan and be used during the scan in order to compensate the movement of the probe. In this way we can have an image-mosaic of the tissue surface in a desired shape.
Starting Page	2928
Ending Page	2934
File Size	661503
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385915
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Probes Biological tissues Liver Trajectory Loading Fingers Friction
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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