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1	VISION-BASED SURGICAL TOOL POSE ESTIMATIONFOR DA VINCI ROBOTIC SYSTEM Ran, Hao 30 August 2017 (has links) No description available. Robotics
2	Modélisation d'un système de navigation chirurgicale pour le traitement par radio-fréquences des tumeurs du foie / Development of a Computer Assisted System aimed at RFA Liver Surgery Mundeleer, Laurent L 24 September 2009 (has links) Radiofrequency ablation (RFA) is a minimally invasive treatment for either hepatocellular carcinoma or metastasis liver carcinoma. In order to resect large lesions, the surgeon has to perform multiple time-consuming destruction cycles and reposition the RFA needle for each of them. The critical step in handling a successful ablation and preventing local recurrence is the correct positioning of the needle. For small tumors, the surgeon places the middle of the active needle tip in the center of the tumor under intra-operative ultrasound guidance. When one application is not enough to cover the entire tumor, the surgeon needs to repeat the treatment after repositioning of the needle, but US guidance is obstructed by the opacity stemming from the first RFA application. In this case the surgeon can only rely on anatomical knowledge and the repositioning of the RFA needle becomes a subjective task limiting the treatment accuracy. We have developed a computer assisted surgery guidance application for this repositioning procedure. Our software application handles the complete process from preoperative image analysis to tool tracking in the operating room. Our framework is mostly used for this RFA procedure, but is also suitable for any other medical or surgery application. registration surgical tool tracking recalage Computer Assisted Surgery segmentation radio-fréquences Liver tumors chirurgie mini-invasive tumeurs du foie chirurgie assistée par ordinateur RFA radio frequency ablation
3	Modélisation d'un système de navigation chirurgicale pour le traitement par radio-fréquences des tumeurs du foie / Development of a Computer Assisted System aimed at RFA Liver Surgery Mundeleer, Laurent 24 September 2009 (has links) Radiofrequency ablation (RFA) is a minimally invasive treatment for either hepatocellular carcinoma or metastasis liver carcinoma. In order to resect large lesions, the surgeon has to perform multiple time-consuming destruction cycles and reposition the RFA needle for each of them. The critical step in handling a successful ablation and preventing local recurrence is the correct positioning of the needle. For small tumors, the surgeon places the middle of the active needle tip in the center of the tumor under intra-operative ultrasound guidance. When one application is not enough to cover the entire tumor, the surgeon needs to repeat the treatment after repositioning of the needle, but US guidance is obstructed by the opacity stemming from the first RFA application. In this case the surgeon can only rely on anatomical knowledge and the repositioning of the RFA needle becomes a subjective task limiting the treatment accuracy. We have developed a computer assisted surgery guidance application for this repositioning procedure. Our software application handles the complete process from preoperative image analysis to tool tracking in the operating room. Our framework is mostly used for this RFA procedure, but is also suitable for any other medical or surgery application. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished Informatique générale Sciences de l'ingénieur Computer-assisted surgery Diagnostic imaging Three-dimensional imaging in medicine Surgery -- Data processing Chirurgie assistée par ordinateur Imagerie pour le diagnostic Imagerie tridimensionnelle en médecine Chirurgie -- Informatique recalage Computer Assisted Surgery segmentation radio-fréquences Liver tumors chirurgie mini-invasive tumeurs du foie chirurgie assistée par ordinateur surgical tool tracking registration RFA radio frequency ablation

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