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Contents 7 Preface 9 Chapter 1 13 Preoperative Planning and Intraoperative Navigation, Based on 3D Modeling for Retroperitoneal Procedures 13 Abstract 13 Introduction 14 Materials and Methods 15 Segmentation Based on Bayesian Classifier 18 Segmentation Based on Level Function 21 Bases of Operation Zone 3D Models Reconstruction 27 Correlating the Display of Video Endoscopic Data, the Patient’s Body Model, the Position of the Surgical Tool at the Stages of Surgery Planning and Executing 28 Mathematical Model of the System for Virtual Object Imaging 29 Mathematical Model of the System For Real Object Imaging 31 Real Object and Virtual Model Images Complexing 32 Clinical Part of the Research 33 Results 36 Discussion 36 Conclusion 39 References 40 Biographical Sketch 44 Chapter 2 51 Fringe Patterns Analysis Using Phase Shifting Techniques Applied to Solid Digitalization in Arm Architecture 51 Abstract 51 Introduction 52 3D Reconstruction 54 Fringe Analysis 54 Image Acquisition and Calibration 58 Image Calibration 58 Image Preprocessing 60 Post-Processing 61 Phase-Shifting Profilometry (PSP) 62 Three-Step Algorithms 62 Song Zhang Algorithm 63 Four-Step Algorithm 64 Phase Unwrapping 6
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