Computer‐based endoscopic image‐processing technology for endourology and laparoscopic surgery

Abstract

Endourology and laparoscopic surgery are evolving in accordance with developments in instrumentation and progress in surgical technique. Recent advances in computer and image-processing technology have enabled novel images to be created from conventional endoscopic and laparoscopic video images. Such technology harbors the potential to advance endourology and laparoscopic surgery by adding new value and function to the endoscope. The panoramic and three-dimensional images created by computer processing are two outstanding features that can address the shortcomings of conventional endoscopy and laparoscopy, such as narrow field of view, lack of depth cue, and discontinuous information. The wide panoramic images show an anatomical 'map' of the abdominal cavity and hollow organs with high brightness and resolution, as the images are collected from video images taken in a close-up manner. To assist in laparoscopic surgery, especially in suturing, a three-dimensional movie can be obtained by enhancing movement parallax using a conventional monocular laparoscope. In tubular organs such as the prostatic urethra, reconstruction of three-dimensional structure can be achieved , implying the possibility of a liquid dynamic model for assessing local urethral resistance in urination. Computer-based processing of endoscopic images will establish new tools for endourology and laparoscopic surgery in the near future.

Stitching and Surface Reconstruction From Endoscopic Image Sequences: A Review of Applications and Methods

“…A bootstrapping method, which starts with a simple two-parameter translational model and extends to a complex twelve-parameter quadratic model (which consequently allows for a spherical scene) has been proposed by Can et al [34] and Stewart et al [137]. A cylindrical projection surface is usually the first choice for stitching and reconstruction of tubular organs such as the esophagus (Seibel et al [126], Yang et al [168], Shar et al [130], Kim et al [78], Reynolds et al [118]) or the urethra (Igarashi et al [71], [72], Ishii et al [73]). …”

“…Reynolds et al [118] (2001) used an unwrapped map to quantitatively describe Barrett's esophagus. Igarashi et al [71], [72] (2008-2009) and Ishii et al [73] presented opened panoramic images of tubular organs such as the male urethra, porcine colon, and human colon, using a "shape-from-shading" approach. They assumed a cylindrical model for the organs and perfect alignment of the optical axis with the cylindrical axis.…”

Three-Dimensional Tissue Deformation Recovery and Tracking

“…It defines the mathematical relationship between pixels in images captured from different locations. In MIS, planar models have been used on a variety of organs [59,61,62,63,64] (see Table II), cylindrical models for the esophagus and colon [53,54,55,56] and full projective models for the abdomen, colon [57], heart [58] and bladder [60]. The main problem with Structure from Motion is error propagation caused by the frame-to-frame camera motion estimation.…”

Gasless single‐port access endoscopic surgery in urology: Minimum incision endoscopic surgery, MIES

“…If the robot can maintain the working space without use of CO 2 , as in current MIES, a new era of gasless robotic surgery may be attainable. A navigation system and image‐processing technology will also be incorporated in the robot 53,54 . Thus, current MIES can be considered as a prototype of future robotic MIES.…”