Vision-based deformation recovery for intraoperative force estimation of tool-tissue interaction for neurosurgery

摘要

In microsurgery, accurate recovery of the deformation of the surgical environment is important for mitigating the risk of inadvertent tissue damage and avoiding instrument maneuvers that may cause injury. The analysis of intraoperative microscopic data can allow the estimation of tissue deformation and provide to the surgeon useful feedback on the instrument forces exerted on the tissue. In practice, vision-based recovery of tissue deformation during tool-tissue interaction can be challenging due to tissue elasticity and unpredictable motion.