  In breast surgical practice, drawing is part of the preoperative planning
procedure and is essential for a successful operation. In this study, we design
a pipeline to assist surgeons with patient-specific breast surgical drawings.
We use a deformable torso model containing the surgical patterns to match any
breast surface scan. To be compatible with surgical timing, we build an
articulated model through a skinning process coupled with shape deformers to
enhance a fast registration process. On one hand, the scalable bones of the
skinning account for pose and morphological variations of the patients. On the
other hand, pre-designed artistic blendshapes create a linear space for
guaranteeing anatomical variations. Then, we apply meaningful constraints to
the model to find a trade-off between precision and speed. The experiments were
conducted on 7 patients, in 2 different poses (prone and supine) with a breast
size ranging from 36A and 42C (US/UK bra sizing). The acquisitions were
obtained using the depth camera Structure Sensor, and the breast scans were
acquired in less than 1 minute. The result is a registration method converging
within a few seconds (3 maximum), reaching a Mean Absolute Error of 2.3 mm for
mesh registration and 8.0 mm for breast anatomical landmarks. Compared to the
existing literature, our model can be personalized and does not require any
database. Finally, our registered model can be used to transfer surgical
reference patterns onto any patient in any position.
