Publications
80 results found
Di Marco A, Pratt P, Darzi A, 2012, A novel method for exploring human anatomy: the Anatomage Table, Hospital Radiology and Imaging Europe, Vol: 7, Pages: 40-43, ISSN: 1748-1082
Pratt P, Di Marco A, Payne C, et al., 2012, Intraoperative ultrasound guidance for transanal endoscopic microsurgery, Med Image Comput Comput Assist Interv, Vol: 15, Pages: 463-470
Local excision of rectal cancer with transanal endoscopic microsurgery has proved to be a viable alternative to conventional, more radical techniques, but the reduced sensory experience presents significant challenges for the surgeon. Accurate identification and complete removal of lesions and subsurface targets is currently a difficult task, often exacerbated by intraoperative tissue deformation. This work describes novel ultrasound calibration and effective visualisation methods designed to meet these requirements, relying solely on optical measurements and pattern tracking. Detailed quantitative phantom and porcine validation experiments confirm that the technique is both practical and an accurate means for assessing lesion thickness intraoperatively, leading directly to human clinical trials.
Pratt P, Mayer E, Vale J, et al., 2012, An effective visualisation and registration system for image-guided robotic partial nephrectomy, Journal of Robotic Surgery, Vol: 6, Pages: 23-31, ISSN: 1863-2483
Stoyanov D, Pratt P, Edwards E, et al., 2012, Quantitative tissue measurements in transoral robotic surgery, Hamlyn Symposium on Medical Robotics, Pages: 107-108
Latt WT, Chang TP, Di Marco A, et al., 2012, A Hand-held Instrument for in vivo Probe-based Confocal Laser Endomicroscopy during Minimally Invasive Surgery, 25th IEEE\RSJ International Conference on Intelligent Robots and Systems (IROS), Publisher: IEEE, Pages: 1975-1980, ISSN: 2153-0858
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- Citations: 1
Sridhar AN, Cohen DC, Chen D, et al., 2011, Development of an augmented reality system for robotic prostatectomy: Towards reducing the learning curve, European Urology Supplements, Vol: 10, Pages: 570-570, ISSN: 1569-9056
The advent and widespread acceptance of robotic-assisted laparoscopic prostatectomy (RALP) has necessitated the development of new skill sets for the trainee surgeon and those converting from open or conventional laparoscopic prostatectomy. The loss of haptic feedback during RALP can increase the challenges during training, with the surgeon having to rely solely on visual cues from the operative field. Augmented reality is a tool which can increase the amount of visual information available, in real time, to the surgeon hence guiding surgery and with the potential to reduce the learning curve. A recently conducted study at our institute identified certain steps of RALP that could benefit from AR guidance. This work presents the implementation of an image guidance system that was developed to assist the surgeon in these key stages of surgery.
Pratt P, Mayer E, Vale J, et al., 2011, Image-guided robotic partial nephrectomy: benefits and challenges, Hamlyn Symposium on Medical Robotics, Pages: 85-86
Stoyanov D, Scarzanella MV, Pratt P, et al., 2010, Real-time stereo reconstruction in robotically assisted minimally invasive surgery, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), Vol: 6361 LNCS, Pages: 275-282, ISSN: 0302-9743
The recovery of 3D tissue structure and morphology during robotic assisted surgery is an important step towards accurate deployment of surgical guidance and control techniques in minimally invasive therapies. In this article, we present a novel stereo reconstruction algorithm that propagates disparity information around a set of candidate feature matches. This has the advantage of avoiding problems with specular highlights, occlusions from instruments and view dependent illumination bias. Furthermore, the algorithm can be used with any feature matching strategy allowing the propagation of depth in very disparate views. Validation is provided for a phantom model with known geometry and this data is available online in order to establish a structured validation scheme in the field. The practical value of the proposed method is further demonstrated by reconstructions on various in vivo images of robotic assisted procedures, which are also available to the community. © 2010 Springer-Verlag.
, 2010, Dynamic guidance for robotic surgery using image-constrained biomechanical models., Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention, Vol: 13, Pages: 77-85
The use of physically-based models combined with image constraints for intraoperative guidance is important for surgical procedures that involve large-scale tissue deformation. A biomechanical model of tissue deformation is described in which surface positional constraints and internally generated forces are derived from endoscopic images and preoperative 4D CT data, respectively. Considering cardiac motion, a novel technique is presented which minimises the average registration error over one or more complete cycles. Features tracked in the stereo video stream provide surface constraints, and an inverse finite element simulation is presented which allows internal forces to be recovered from known preoperative displacements. The accuracy of surface texture, segmented mesh and volumetrically rendered overlays is evaluated with detailed phantom experiments. Results indicate that by combining preoperative and intraoperative images in this manner, accurate intraoperative tissue deformation modelling can be achieved.
Lee S-L, Huntbatch A, Pratt P, et al., 2010, <i>In vivo</i> and <i>in situ</i> image guidance and modelling in robotic assisted surgery, PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE, Vol: 224, Pages: 1421-1434, ISSN: 0954-4062
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- Citations: 3
Stoyanov D, Scarzanella MV, Pratt P, et al., 2010, Real-time stereo reconstruction in robotically assisted minimally invasive surgery, Med Image Comput Comput Assist Interv, Vol: 13, Pages: 275-282
The recovery of 3D tissue structure and morphology during robotic assisted surgery is an important step towards accurate deployment of surgical guidance and control techniques in minimally invasive therapies. In this article, we present a novel stereo reconstruction algorithm that propagates disparity information around a set of candidate feature matches. This has the advantage of avoiding problems with specular highlights, occlusions from instruments and view dependent illumination bias. Furthermore, the algorithm can be used with any feature matching strategy allowing the propagation of depth in very disparate views. Validation is provided for a phantom model with known geometry and this data is available online in order to establish a structured validation scheme in the field. The practical value of the proposed method is further demonstrated by reconstructions on various in vivo images of robotic assisted procedures, which are also available to the community.
Pratt P, Stoyanov D, Visentini-Scarzanella M, et al., 2010, Dynamic guidance for robotic surgery using image-constrained biomechanical models, Med Image Comput Comput Assist Interv, Vol: 13, Pages: 77-85
The use of physically-based models combined with image constraints for intraoperative guidance is important for surgical procedures that involve large-scale tissue deformation. A biomechanical model of tissue deformation is described in which surface positional constraints and internally generated forces are derived from endoscopic images and preoperative 4D CT data, respectively. Considering cardiac motion, a novel technique is presented which minimises the average registration error over one or more complete cycles. Features tracked in the stereo video stream provide surface constraints, and an inverse finite element simulation is presented which allows internal forces to be recovered from known preoperative displacements. The accuracy of surface texture, segmented mesh and volumetrically rendered overlays is evaluated with detailed phantom experiments. Results indicate that by combining preoperative and intraoperative images in this manner, accurate intraoperative tissue deformation modelling can be achieved.
Dowsey A, Pratt P, Visentini-Scarzanella M, et al., 2009, A real-time simulation, guidance and visualisation platform for intra-operative minimally invasive robotic surgery, 1st NVIDIA GPU Technology Conference
Pratt P, Bello F, Edwards E, et al., 2008, Interactive finite element simulation of the beating heart for image-guided robotic cardiac surgery, 16th Conference on Medicine Meets Virtual Reality, Publisher: I O S PRESS, Pages: 378-383, ISSN: 0926-9630
Hu M, Penney GP, Rueckert D, et al., 2008, A novel algorithm for heart motion analysis based on geometric constraints, Publisher: Springer, Pages: 720-728
Pratt P, 2008, Inverse nonlinear finite element methods for surgery simulation and image guidance, Computational Biomechanics for Medicine (III) Workshop, Pages: 48-55
Pratt P, 2008, Image guidance and surgery simulation using inverse nonlinear finite element methods, 4th International Symposium on Biomedical Simulation, Publisher: SPRINGER-VERLAG BERLIN, Pages: 185-190, ISSN: 0302-9743
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- Citations: 1
Pratt P, Bello F, Edwards E, et al., 2007, Finite element simulation of the beating heart for image-guided robotic cardiac surgery, Computational Biomechanics for Medicine (II) Workshop, Pages: 74-83
Crowhurst J, Plaat F, 1999, A reply, Anaesthesia, Vol: 54, Pages: 1117-1118, ISSN: 0003-2409
Pratt P, 1994, Evolving neural networks to control unstable dynamical systems, Third Annual Conference on Evolutionary Programming, Publisher: World Scientific, Pages: 191-204
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