Augmented Reality Guided Laparoscopic Surgery of the Uterus - Archive ouverte HAL Access content directly
Journal Articles IEEE Transactions on Medical Imaging Year : 2021

Augmented Reality Guided Laparoscopic Surgery of the Uterus


A major research area in Computer Assisted Intervention (CAI) is to aid laparoscopic surgery teams with Augmented Reality (AR) guidance. This involves registering data from other modalities such as MR and fusing it with the laparoscopic video in real-time, to reveal the location of hidden critical structures. We present the first system for AR guided laparoscopic surgery of the uterus. This works with pre-operative MR or CT data and monocular laparoscopes, without requiring any additional interventional hardware such as optical trackers. We present novel and robust solutions to two main sub-problems: the initial registration, which is solved using a short exploratory video, and update registration, which is solved with real-time tracking-by-detection. These problems are challenging for the uterus because it is a weakly-textured, highly mobile organ that moves independently of surrounding structures. In the broader context, our system is the first that has successfully performed markerless real-time registration and AR of a mobile human organ with monocular laparoscopes in the OR.
Fichier principal
Vignette du fichier
main.pdf (15.75 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

hal-02961031 , version 1 (08-10-2020)



Toby Collins, Daniel Pizarro, Simone Gasparini, Nicolas Bourdel, Pauline Chauvet, et al.. Augmented Reality Guided Laparoscopic Surgery of the Uterus. IEEE Transactions on Medical Imaging, 2021, 40 (1), pp.371-380. ⟨10.1109/TMI.2020.3027442⟩. ⟨hal-02961031⟩
306 View
332 Download



Gmail Mastodon Facebook X LinkedIn More