Multi-view Stereo and Advanced Navigation for Transanal Endoscopic Microsurgery

Abstract

Abstract. Transanal endoscopic microsurgery (TEM), i.e., the local excision of rectal carcinomas by way of a bimanual operating system with magnified binocular vision, is gaining acceptance in lieu of more radical total interventions. A major issue with this approach is the lack of information on submucosal anatomical structures. This paper presents an advanced navigation system, wherein the intraoperative 3D structure is stably estimated from multiple stereoscopic views. It is registered to a preoperatively acquired anatomical volume based on subject-specific priors. The endoscope motion is tracked based on the 3D scene and its field-of-view is visualised jointly with the preoperative information. Based on in vivo data, this paper demonstrates how the proposed navigation system provides intraoperative navigation for TEM 1 .

Fast and accurate vision‐based stereo reconstruction and motion estimation for image‐guided liver surgery

“…Instead of directly computing 3D structure from monocular imagery, one approach has been explored that frames the problem of overlaying preoperative volumetric information onto the intraoperative 2D video as that of computing a projection matrix from 2D-3D correspondences between the video sequence and preoperative computed tomography (CT) [8]. Reconstruction from stereo imagery using so-called local [9,10], semi-global [11,12] and global approaches [13][14][15][16][17] also has been considered, where the main differences can be viewed as trade-offs between computational efficiency and the complexity of smoothness integration employed in image matching. The previous work has also considered a visual odometry-based approach, making use of the quadrifocal constraints to estimate binocular laparoscopic camera motion in a surgical environment [18].…”