Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Abstract

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon's navigation capabilites by observing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted instruments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D optical imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions.

Reflectance imaging by fiber bundle endoscope: Vertical reconstruction by multipositional illumination

“…Optical techniques for three-dimensional surface reconstruction of endoscopes have been employed in clinical applications [10]. In this paper, we introduced a simple illumination scheme for micro-level reflectance imaging using a bundle-fiber-coupled fiber bundle enabling vertical reconstruction.…”

Real-Time Range Imaging in Health Care: A Survey

“…Active methods, such as structured light [52,53] and ToF require controlled light to be projected into the environment. For a comprehensive review of these different techniques in the context of MIS we refer to Maier-Hein et al [54]. In this chapter, we review recent advances related to ToF endoscopy.…”

3D Surface Reconstruction of Organs Using Patient-Specific Shape Priors in Robot-Assisted Laparoscopic Surgery

“…Three dimensional (3D) reconstruction [1] of soft-tissue surfaces from stereo cameras is an essential intermediary step used within many image guidance techniques. As surveyed in a recent publication [2], such laparoscopic applications include: augmented reality, telestration, feature tracking, dynamic view expansion, biophotonics, and collision detection.…”

“…According to [2], many hardware solutions, e.g. structured light and time of flight, and software algorithms, e.g.…”