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A robust mosaic of placenta and its vascular network could support surgeons\u2019 exploration of the placenta by enlarging the fetoscope field-of-view. In this work, we propose a learning-based framework for field-of-view expansion from intra-operative video frames.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Methods<\/jats:title>\n                <jats:p>While current state of the art for fetoscopic mosaicking builds upon the registration of anatomical landmarks which may not always be visible, our framework relies on learning-based features and keypoints, as well as robust transformer-based image-feature matching, without requiring any anatomical priors. We further address the problem of occlusion recovery and frame relocalization, relying on the computed features and their descriptors.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Results<\/jats:title>\n                <jats:p>Experiments were conducted on 10 in-vivo TTTS videos from two different fetal surgery centers. The proposed framework was compared with several state-of-the-art approaches, achieving higher <jats:inline-formula><jats:alternatives><jats:tex-math>$$\\textrm{SSIM}_{5}$$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                    <mml:msub>\n                      <mml:mtext>SSIM<\/mml:mtext>\n                      <mml:mn>5<\/mml:mn>\n                    <\/mml:msub>\n                  <\/mml:math><\/jats:alternatives><\/jats:inline-formula> on 7 out of 10 videos and a success rate of <jats:inline-formula><jats:alternatives><jats:tex-math>$$93.25\\%$$<\/jats:tex-math><mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\">\n                    <mml:mrow>\n                      <mml:mn>93.25<\/mml:mn>\n                      <mml:mo>%<\/mml:mo>\n                    <\/mml:mrow>\n                  <\/mml:math><\/jats:alternatives><\/jats:inline-formula> in occlusion recovery.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Conclusion<\/jats:title>\n                <jats:p>This work introduces a learning-based framework for placental mosaicking with occlusion recovery from intra-operative videos using a keypoint-based strategy and features. The proposed framework can compute the placental panorama and recover even in case of camera tracking loss where other methods fail. The results suggest that the proposed framework has large potential to pave the way to creating a surgical navigation system for TTTS by providing robust field-of-view expansion.<\/jats:p>\n              <\/jats:sec>","DOI":"10.1007\/s11548-023-02974-3","type":"journal-article","created":{"date-parts":[[2023,8,16]],"date-time":"2023-08-16T19:07:28Z","timestamp":1692212848000},"page":"2349-2356","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Toward a navigation framework for fetoscopy"],"prefix":"10.1007","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-5214-9443","authenticated-orcid":false,"given":"Alessandro","family":"Casella","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0009-0003-0326-0342","authenticated-orcid":false,"given":"Chiara","family":"Lena","sequence":"additional","affiliation":[]},{"given":"Sara","family":"Moccia","sequence":"additional","affiliation":[]},{"given":"Dario","family":"Paladini","sequence":"additional","affiliation":[]},{"given":"Elena","family":"De Momi","sequence":"additional","affiliation":[]},{"given":"Leonardo S.","family":"Mattos","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,8,16]]},"reference":[{"issue":"2","key":"2974_CR1","first-page":"107","volume":"39","author":"A Baschat","year":"2011","unstructured":"Baschat A, Chmait RH, Deprest J, Gratac\u00f3s E, Hecher K, Kontopoulos E, Quintero R, Skupski DW, Valsky DV, Ville Y (2011) Twin-to-twin transfusion syndrome (TTTS). 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Data used for the analysis were acquired during actual surgery procedures and then were anonymized to allow researchers to conduct the study. All the patients gave their consent on data processing for research purpose. The study fully respects and promotes the values of freedom, autonomy, integrity and dignity of the person, social solidarity and justice, including fairness of access. The study was carried out in compliance with the principles laid down in the Declaration of Helsinki, in accordance with the Guidelines for Good Clinical Practice.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethical standards"}}]}}