Publications of Rosalie Plantefève

Publications HAL de plantefeve de la structure shacra;mimesis

2016

Theses

titre
Augmented Reality and Numerical Simulations for Hepatic Tumors Resection
auteur
Rosalie Plantefève
article
Modeling and Simulation. Université Lille 1 Sciences et Technologies, 2016. English
resume
Liver cancer is the 2nd most common cause of cancer death worldwide, with more than 745,000 deaths from liver cancer in 2012. When including deaths from liver cirrhosis, the toll reaches nearly 2 million people worldwide. Today, surgical tumors ablation remains the best treatment for liver cancer. To localize the hepatic tumors and to define the resection planes, clinicians rely on pre-operative medical images (obtained with computed tomography scanner or magnetic resonance imaging). However, the liver lesions and vascular system are difficult to localize during surgery. This may lead to incomplete tumor resection or haemorrhage. The purpose of this thesis work is to provide surgeons with an augmented view of the liver and its internal structures during surgery to help them to optimally resect the tumors while limiting the risk of vascular lesion. Therefore, an elastic registration method to align the pre-operative and intra-operative data has been developed. This method, which uses a biomechanical model and anatomical landmarks, was designed to limit its impact on the clinical workflow and reaches a registration accuracy below the resection margin even when the liver is strongly deformed between its pre-operative and intra-operative state. This registration algorithm has been integrated into a software, sofaOR, to conduct the first clinical tests.
Accès au texte intégral et bibtex
https://hal.inria.fr/tel-01338385/file/Thesis_final.pdf BibTex

2015

Journal articles

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titre
Patient-specific Biomechanical Modeling for Guidance during Minimally-invasive Hepatic Surgery
auteur
Rosalie Plantefève, Igor Peterlik, Nazim Haouchine, Stéphane Cotin
article
Annals of Biomedical Engineering, Springer Verlag, 2015
resume
During the minimally-invasive liver surgery, only the partial surface view of the liver is usually provided to the surgeon via the laparoscopic camera. Therefore, it is necessary to estimate the actual position of the internal structures such as tumors and vessels from the pre-operative images. Nevertheless, such task can be highly challenging since during the intervention, the abdominal organs undergo important deformations due to the pneumoperitoneum, respiratory and cardiac motion and the interaction with the surgical tools. Therefore, a reliable automatic system for intra-operative guidance requires fast and reliable registration of the pre- and intra-operative data. In this paper we present a complete pipeline for the registration of pre-operative patient-specific image data to the sparse and incomplete intra-operative data. While the intra-operative data is represented by a point cloud extracted from the stereo-endoscopic images, the pre-operative data is used to reconstruct a biomechanical model which is necessary for accurate estimation of the position of the internal structures, considering the actual deformations. This model takes into account the patient-specific liver anatomy composed of parenchyma, vascularization and capsule, and is enriched with anatomical boundary conditions transferred from an atlas. The registration process employs the iterative closest point technique together with a penalty-based method. We perform a quantitative assessment based on the evaluation of the target registration error on synthetic data as well as a qualitative assessment on real patient data. We demonstrate that the proposed registration method provides good results in terms of both accuracy and robustness w. r. t. the quality of the intra-operative data.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01205194/file/ABME.pdf BibTex

Conference papers

titre
Framework for augmented reality in Minimally Invasive laparoscopic surgery
auteur
Bruno Marques, Rosalie Plantefeve, Frédérick Roy, Nazim Haouchine, Emmanuel Jeanvoine, Igor Peterlik, Stéphane Cotin
article
HealthCom 2015, Oct 2015, Boston, United States. 2015 17th International Conference on E-health Networking, Application & Services (HealthCom) 2015, <10.1109/HealthCom.2015.7454467>
resume
This article presents a framework for fusing pre-operative data and intra-operative data for surgery guidance. This framework is employed in the context of Minimally Invasive Surgery (MIS) of the liver. From stereoscopic images a three dimensional point cloud is reconstructed in real-time. This point cloud is then used to register a patient-specific biomechanical model derived from Computed Tomography images onto the laparoscopic view. In this way internal structures such as vessels and tumors can be visualized to help the surgeon during the procedure. This is particularly relevant since abdominal organs undergo large deformations in the course of the surgery, making it difficult for surgeons to correlate the laparoscopic view with the pre-operative images. Our method has the potential to reduce the duration of the operation as the biomechanical model makes it possible to estimate the in-depth position of tumors and vessels at any time of the surgery, which is essential to the surgical decision process. Results show that our method can be successfully applied during laparoscopic procedure without interfering with the surgical work flow.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01315574/file/article.pdf BibTex
Depth_Contour.jpg
titre
Improving depth perception during surgical augmented reality
auteur
Bruno Marques, Nazim Haouchine, Rosalie Plantefeve, Stephane Cotin
article
SIGGRAPH [Poster], Aug 2015, Los Angeles, United States. pp.Article No. 24, 2015, <10.1145/2787626.2792654>
resume
This study suggests a method to compensate the loss of depth perception while enhancing organ vessels and tumors to surgeons. This method relies on a combination of contour rendering technique and adaptive alpha blending to effectively perceive the vessels and tumors depth. In addition, this technique is designed to achieve real-time to satisfy the requirements of clinical routines, and has been tested on real human surgery.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01191101/file/template.pdf BibTex

2014

Conference papers

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titre
Automatic Alignment of pre and intraoperative Data using Anatomical Landmarks for Augmented Laparoscopic Liver Surgery
auteur
Rosalie Plantefeve, Nazim Haouchine, Jean Pierre Radoux, Stéphane Cotin
article
International Symposium on Biomedical Simulation ISBMS, Oct 2014, Strasbourg, France. 2014
resume
Each year in Europe 50,000 new liver cancer cases are diagnosed for which hepatic surgery combined to chemotherapy is the most common treatment. In particular the number of laparoscopic liver surgeries has increased significantly over the past years. This type of minimally invasive procedure which presents many benefits for the patient is challenging for the surgeons due to the limited field of view. Recently new augmented reality techniques which merge preoperative data and intraoperative images and permit to visualize internal structures have been proposed to help surgeons during this type of surgery. One of the difficulties is to align preoperative data with the intraoperative images. We propose in this paper a semi-automatic approach for solving the ill-posed problem of initial alignment for Augmented Reality systems during liver surgery. Our registration method relies on anatomical landmarks extracted from both the laparoscopic images and three-dimensional model, using an image-based soft-tissue reconstruction technique and an atlas-based approach, respectively. The registration evolves automatically from a quasi-rigid to a non-rigid registration. Furthermore, the surface-driven deformation is induced in the volume via a patient specific biomechanical model. The experiments conducted on both synthetic and in vivo data show promising results with a registration error of 2 mm when dealing with a visible surface of 30% of the whole liver.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01068246/file/article.pdf BibTex
comp_flank_supine_BC.png
titre
Atlas-based Transfer of Boundary Conditions for Biomechanical Simulation
auteur
Rosalie Plantefeve, Igor Peterlik, Hadrien Courtecuisse, Raffaella Trivisonne, Jean-Pierre Radoux, Stéphane Cotin
article
MICCAI – 17th International Conference on Medical Image Computing and Computer Assisted Intervention, Sep 2014, Boston, United States. 2014
resume
An environment composed of different types of living tissues (such as the abdominal cavity) reveals a high complexity of boundary conditions, which are the attachments (e.g. connective tissues, ligaments) connecting different anatomical structures. Together with the material properties, the boundary conditions have a significant influence on the mechanical response of the organs, however corresponding correct me- chanical modeling remains a challenging task, as the connective struc- tures are difficult to identify in certain standard imaging modalities. In this paper, we present a method for automatic modeling of boundary con- ditions in deformable anatomical structures, which is an important step in patient-specific biomechanical simulations. The method is based on a statistical atlas which gathers data defining the connective structures at- tached to the organ of interest. In order to transfer the information stored in the atlas to a specific patient, the atlas is registered to the patient data using a physics-based technique and the resulting boundary conditions are defined according to the mean position and variance available in the atlas. The method is evaluated using abdominal scans of ten patients. The results show that the atlas provides a sufficient information about the boundary conditions which can be reliably transferred to a specific patient. The boundary conditions obtained by the atlas-based transfer show a good match both with actual segmented boundary conditions and in terms of mechanical response of deformable organs.
Accès au texte intégral et bibtex
https://hal.inria.fr/hal-01070339/file/paper_1071.pdf BibTex