(Scaradozzi 2018) SLAM application in surgery

Abstract:

• SLAM’s potential in image-guided surgery assuming static environment
• Review of main techniques in general robotics SLAM
• Insight into visual SLAM
• SLAM in surgery

Chapters

• what-is-slam
• Filter-based vs optimisation-based SLAM

• General Kalman Filter
• General EKF
• Unscented Kalman Filter
• Information Filter

….

Takeaway

• EKF is popular in surgery SLAM techniques
• Deformable environment encumbers precise registration  and data fusion