Mapping surgical fields by moving a laser-scanning multimodal scope attached to a robot arm

Gong, Yuanzheng; Soper, Tomothy D.; Hou, Vivian; Hu, Danying; Hannaford, Blake; Seibel, Eric J.

doi:10.1117/12.2044165

Cited by 8 publications

(19 citation statements)

References 7 publications

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“…To better evaluate the value and impact of BCBA, we used the constraints of FOV and Q z for the reconstruction and relaxed the constraints on the camera positions and replicated the experiment analysis, the result of which was shown in Table 1. By bounding the FOV ∈ [50 • , 56 • ] and Q z ∈ [15,25] mm, the comparison between the conventional BA and BCBA demonstrates the higher accuracy (3.8× less ICP error) and improved efficiency, as shown in Table 3. Importantly, the estimation of camera positions compared to ground truth (micro-positioning stage values) shows that BCBA performed significantly better than BA.…”

Section: Discussionmentioning

confidence: 99%

“…5(d). Furthermore, 97.56% of the reconstructed object points are located in the range of [15,25] mm, which is the range we get from the experiment setup. Once the 3D point cloud was obtained, a thin spline algorithm was applied to generate a smooth 3D surface by fitting these reconstructed 3d points [24].…”

Section: (A) Which Is Feasible To Minimal Invasive Surgery (Mis) Itmentioning

confidence: 99%

“…Conventional BA algorithm either takes a parameter as known (fixed-value), or as an unknown variable (unconstrained). The former case may result in an incorrect 3D reconstruction with known but inaccurate parameters [25]. The latter case may cause erroneous estimation of the camera and the object parameters since the optimization gets trapped in a dramatically wrong local minimum.…”

Section: Introductionmentioning

confidence: 99%

“…Other constraints were also pre-known: a rough camera calibration concluded that the FOV was in the range of [50, 56] degrees; the surface geometry of the object was 10 mm in depth; and the distance of the object to camera was 15 mm. Thus, the depth of object points should be in the range of [15,25] mm. However, for this experiment, we only used the constraints of camera position for BCBA.…”

Section: (A) Which Is Feasible To Minimal Invasive Surgery (Mis) Itmentioning

confidence: 99%

“…The motivation of solving this problem is to reconstruct an accurate 3D model of surgical field for an autonomous image-guided surgery robotic system [25]. In our case, an endoscope (camera) was moved around by an ill-calibrated robot arm to capture images of the surgical field.…”

Section: Introductionmentioning

confidence: 99%

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Bound constrained bundle adjustment for reliable 3D reconstruction

2015

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Abstract:Bundle adjustment (BA) is a common estimation algorithm that is widely used in machine vision as the last step in a feature-based three-dimensional (3D) reconstruction algorithm. BA is essentially a non-convex non-linear least-square problem that can simultaneously solve the 3D coordinates of all the feature points describing the scene geometry, as well as the parameters of the camera. The conventional BA takes a parameter either as a fixed value or as an unconstrained variable based on whether the parameter is known or not. In cases where the known parameters are inaccurate but constrained in a range, conventional BA results in an incorrect 3D reconstruction by using these parameters as fixed values. On the other hand, these inaccurate parameters can be treated as unknown variables, but this does not exploit the knowledge of the constraints, and the resulting reconstruction can be erroneous since the BA optimization halts at a dramatically incorrect local minimum due to its non-convexity. In many practical 3D reconstruction applications, unknown variables with range constraints are usually available, such as a measurement with a range of uncertainty or a bounded estimate. Thus to better utilize these pre-known, constrained, but inaccurate parameters, a bound constrained bundle adjustment (BCBA) algorithm is proposed, developed and tested in this study. A scanning fiber endoscope (the camera) is used to capture a sequence of images above a surgery phantom (the object) of known geometry. 3D virtual models are reconstructed based on these images and then compared with the ground truth. The experimental results demonstrate BCBA can achieve a more reliable, rapid, and accurate 3D reconstruction than conventional bundle adjustment.

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Section: Discussionmentioning

confidence: 99%

Section: (A) Which Is Feasible To Minimal Invasive Surgery (Mis) Itmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: (A) Which Is Feasible To Minimal Invasive Surgery (Mis) Itmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Bound constrained bundle adjustment for reliable 3D reconstruction

2015

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A cable‐driven soft robotic end‐effector actuator for probe‐based confocal laser endomicroscopy: Development and preclinical validation

DeLorey

Davids

Cartucho

et al. 2022

Transl Biophotonics

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Soft robotics is becoming a popular choice for end-effectors. An end-effector was designed that has various advantages including ease of manufacturing, simplicity and control. This device may have the advantage of enabling probe-based devices to intraoperatively measure cancer histology, because it can flexibly and gently position a probe perpendicularly over an area of delicate tissue. This is demonstrated in a neurosurgical setting where accurate cancer resection has been limited by lack of accurate visualisation and impaired tumour margin delineation with the need for in-situ histology. Conventional surgical robotic end-effectors are unsuitable to accommodate a probe-based confocal laser endomicroscopy (p-CLE) probe because of their rigid and non-deformable properties, which can damage the thin probe. We have therefore designed a new soft robotic platform, which is advantageous by conforming to the probe's shape to avoid damage and to facilitate precision scanning.

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