3D reconstruction of the operating field for image overlay in 3D-endoscopic surgery

Mourgues, Fabien; Devemay, F.

doi:10.1109/isar.2001.970537

Cited by 43 publications

(29 citation statements)

References 8 publications

(7 reference statements)

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“…Let γ L be its value for the considered patch I p and γ R the one for the best candidate patch I c . Our first criterion is that both of these values have to be greater than a certain threshold γ min (see equation 2). If this condition is not met, the matching is declared too risky.…”

Section: Robust Matching Via Confidence Criteriamentioning

confidence: 99%

“…The fact that the surgeon's view of the operated scene is digitized via a stereo camera has made augmented reality (AR) in minimally invasive surgery (MIS) an very active research area since the early 2000s [2] [3]. The aim is to grant the surgeon the ability to see "beyond" the visible surface by overlaying visual information from other available intra-operative and pre-operative data onto the endoscopic camera feed.…”

Section: Introductionmentioning

confidence: 99%

“…In [2], a method was presented for detecting and virtually removing the tools from the reconstructed scene. Later [12], Vagvolgyi et al proposed a method to overlay a kidney model onto the stereo display by registering the model to the kidney surface reconstructed from stereo data.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Robust Dense Endoscopic Stereo Reconstruction for Minimally Invasive Surgery

Bernhardt

Abinahed

Abugharbieh

2013

Medical Computer Vision. Recognition Techniques and Applications in Medical Imaging

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Abstract. Robotic assistance in minimally invasive surgical interventions has gained substantial popularity over the past decade. Surgeons perform such operations by remotely manipulating laparoscopic tools whose motion is executed by the surgical robot. One of the main tools deployed is an endoscopic binocular camera that provides stereoscopic vision of the operated scene. Such surgeries have notably garnered wide interest in renal surgeries such as partial nephrectomy, which is the focus of our work. This operation consists of the localization and removal of tumorous tissue in the kidney. During this procedure, the surgeon would greatly benefit from an augmented reality view that would display additional information from the different imaging modalities available, such as pre-operational CT and intra-operational ultrasound. In order to fuse and visualize these complementary data inputs in a pertinent way, they need to be accurately registered to a 3D reconstruction of the imaged surgical scene topology captured by the binocular camera. In this paper we propose a simple yet powerful approach for dense matching between the two stereoscopic camera views and for reconstruction of the 3D scene. Our method adaptively and accurately finds the optimal correspondence between each pair of images according to three strict confidence criteria that efficiently discard the majority of outliers. Using experiments on clinical in-vivo stereo data, including comparisons to two state-of-the-art 3D reconstruction techniques in minimally invasive surgery, our results illustrate superior robustness and better suitability of our approach to realistic surgical applications.

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Section: Robust Matching Via Confidence Criteriamentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Robust Dense Endoscopic Stereo Reconstruction for Minimally Invasive Surgery

Bernhardt

Abinahed

Abugharbieh

2013

Medical Computer Vision. Recognition Techniques and Applications in Medical Imaging

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“…The stereo vision utilizes two or more cameras to interpolate the three-dimensional (3D) information of a subject including the shape, texture and depth, based on computer vision techniques and the known geometry coordinates between the cameras [11]. Using a high speed camera, this technique can extract information in real time, and thus it can be used to recover the 3D structure of the operating field [12] and track the temporal motion of deformable tissue surfaces [13] during a minimally invasive surgery. While the applications of optical vision method in minimally invasive surgery are promising and progressing, one major downside with this technique is by the difficult in extracting features on curved and specular surfaces.…”

Section: Miniaturized Force-indentation Depth Sensor For Tissue Abnormentioning

confidence: 99%

Miniaturized force-indentation depth sensor for tissue abnormality identification during laparoscopic surgery

Liu

Poon

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-This paper presents a novel miniaturized force-indentation depth (FID) sensor designed to conduct indentation on soft tissue during minimally invasive surgery. It can intra-operatively aid the surgeon to rapidly identify the tissue abnormalities within the tissue. The FID sensor can measure the indentation depth of a semi-spherical indenter and the tissue reaction force simultaneously. It make use of with fiber optical fiber sensing method measure indentation depth and force and is small enough to fit through a standard trocar port with a diameter of 11 mm.The created FID sensor was calibrated and tested on silicone block simulating soft tissue. The results show that the sensor can measure the indentation depth accurately and also the orientation of the sensor with respect to the tissue surface whilst performing indentation. . I. INTRODUCTIONThere ). Distinct advantages of these robotic systems include high distal dexterity, enhanced 3D vision, motion scaling and tremor filtering as well as direct hand-eye coordination eliminating reversed tool motions. These advances result in improved ergonomics and also allow complex surgical procedures, which are usually difficult to be conducted by conventional minimally invasive means such as coronary artery bypass grafting [3] and mitral valve repair[4] to be effectively performed. However, the lack of haptic feedback in current robot-aided minimally invasive surgery systems is still one of the major downsides of such systems.Manuscript

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“…For this reason, it is considered as the vehicle for minimal invasive surgery [18]. Since a monocular video camera can provide only 2D images, which are different from what the physician can see from the actual sites of the body, efforts have been spent on the development of stereo endoscopy systems [6,18,22]. A stereo endoscope can capture stereo images, which can be viewed by a physician through special glasses and/or displays [6,12].…”

Section: Introductionmentioning

confidence: 99%