Laparoscopic Image Analysis for Robotic Arm Guidance

Abstract

Some of the most important problems arising during a laparoscopic surgery relate to the limited perception of depth and field of view (fov). In this paper we explore the possibilities of dealing with these problems using appropriate re-modeling of the laparoscopic equipment and image processing algorithms, as to increase the perception ability of the surgeon within the operation space. We demonstrate that by using two camera units and appropriate estimation of the epipolar geometry between the camera views, we can acquire an accurate 3D map of the scene, as well as increased field of view. The benefits for the surgeon include the enhancement of the visible operating space and the increased perception of this space, with the ability of accurately estimating distances of sensitive abdomen regions and organs from the end of the laparoscope tip. Several simulation and real-world experiments are presented as to validate the potential of the proposed scheme.

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

“…Gketsis et al. 58 proposed a somewhat unique attempt to obtain a 3‐D image with a wider view of the surgical field using two laparoscopes arranged parallel, and estimation of epipolar geometry between them. These methods require special laparoscopes, apparatuses and algorithms.…”

“…Although the usefulness of a binocular laparoscope is controversial, 55,56 it would help to improve surgical skills in novice surgeons. 57 Gketsis et al 58 proposed a somewhat unique attempt to obtain a 3-D image with a wider view of the surgical field using two laparoscopes arranged parallel, and estimation of epipolar geometry between them. These methods require special laparoscopes, apparatuses and algorithms.…”