Endoscopic laser range scanner for minimally invasive, image guided kidney surgery

A clinically applicable laser-based image-guided system for laparoscopic liver procedures

“…However, the implemented solution is robust over reflections or artifacts which often occur in a clinical scenario. The scanning precision of the presented LRS is inferior to the method presented in [15], while it is similar when compared with [6]. This discrepancy can be attributed to the distance from the LRS to the target (10-15 cm in the presented method, 2-6 cm in [15]).…”

“…The scanning precision of the presented LRS is inferior to the method presented in [15], while it is similar when compared with [6]. This discrepancy can be attributed to the distance from the LRS to the target (10-15 cm in the presented method, 2-6 cm in [15]). The accuracy of sphere reconstruction is similar to [13].…”

“…The aforementioned system was also extended for detecting liver deformation and was applied during an in vivo animal experiment where improved depth perception was achieved. A similar LRS system, presented by Friets et al, demonstrated a scanning accuracy of 0.38 ± 0.27 mm for objects of known geometry placed at different distances to the LRS [15]. A system based on conoscopic holography was presented in [6] where, by manually scanning a phantom, a mean TRE accuracy of 2.94 mm was found.…”

“…To determine the LRS scanning accuracy and precision, the experiments presented by Hayshibe et al [13], Lathrop et al [6] and Friets et al [15] in scanning objects of known dimensions were reproduced. A tracked plane (150 × 90 mm) and a sphere (∅ = 50.85 mm) were scanned.…”