Organ registration in augmented surgery from an optimal control perspective - Inria - Institut national de recherche en sciences et technologies du numérique Accéder directement au contenu
Pré-Publication, Document De Travail Année : 2023

Organ registration in augmented surgery from an optimal control perspective

Résumé

We address the problem of organ registration in augmented surgery, where the deformation of the patient's organ is reconstructed in real-time from a partial observation of its surface. Physicsbased registration methods rely on adding artificial forces to drive the registration, which may result in implausible displacement fields. In this paper, we look at this inverse problem through the lens of optimal control, in an attempt to reconstruct a physically consistent surface load. The resulting optimization problem features an elastic model, a least-squares data attachment term based on orthogonal projections, and an admissible set of surface loads defined prior to reconstruction in the mechanical model. After a discussion about the existence of solutions, we analyze the necessary optimality conditions and use them to derive a suitable optimization algorithm. We implement an adjoint method and we test our approach on multiple examples, including the so-called Sparse Data Challenge. We obtain very promising results, that illustrate the feasibility of our approach with linear and nonlinear models.
Fichier principal
Vignette du fichier
HAL_CMP.pdf (10.11 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04043695 , version 1 (23-03-2023)
hal-04043695 , version 2 (11-01-2024)

Identifiants

  • HAL Id : hal-04043695 , version 1

Citer

Stéphane Cotin, Guillaume Mestdagh, Yannick Privat. Organ registration in augmented surgery from an optimal control perspective. 2023. ⟨hal-04043695v1⟩
132 Consultations
35 Téléchargements

Partager

Gmail Facebook X LinkedIn More