ORBSLAM-Based Endoscope Tracking and 3D Reconstruction

Abstract

We aim to track the endoscope location inside the surgical scene and provide 3D reconstruction, in real-time, from the sole input of the image sequence captured by the monocular endoscope. This information offers new possibilities for developing surgical navigation and augmented reality applications. The main benefit of this approach is the lack of extra tracking elements which can disturb the surgeon performance in the clinical routine. It is our first contribution to exploit ORBSLAM, one of the best performing monocular SLAM algorithms, to estimate both of the endoscope location, and 3D structure of the surgical scene. However, the reconstructed 3D map poorly describe textureless soft organ surfaces such as liver. It is our second contribution to extend ORBSLAM to be able to reconstruct a semi-dense map of soft organs. Experimental results on in-vivo pigs, shows a robust endoscope tracking even with organs deformations and partial instrument occlusions. It also shows the reconstruction density, and accuracy against ground truth surface obtained from CT.

MIS-SLAM: Real-Time Large-Scale Dense Deformable SLAM System in Minimal Invasive Surgery Based on Heterogeneous Computing

“…The open source software ORB-SLAM is adopted executed on desktop PC with Intel Core i7-4770K CPU @ 3.5 GHz and 8GB RAM. We follow [4] to tune the parameters and structures. The average tracking time is 15ms with 640x480 image resolution and 12 ms with 720x288 image resolution.…”

A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots

“…This paper claims to achieve good results but since the results were achieved in a very controlled environment with rigid and well textured surface and perfect lighting without reflections, the results are not comparable for challenge real scenes. ORB-SLAM-based Endoscope Tracking and 3D Reconstruction [24] is another approach addressing the issue of endoscopic localization.…”

Magnetic- Visual Sensor Fusion-based Dense 3D Reconstruction and Localization for Endoscopic Capsule Robots

“…[26] adapted parallel tracking and mapping techniques to a stereo-endoscope to obtain reconstructed 3D maps that were denser when compared to monoscopic camera methods. [27] has applied Fig. 2: Demonstration of the active endoscopic capsule robot operation using MASCE (Magnetically actuated soft capsule endoscope) designed for disease detection, drug delivery and biopsy-like operations in the upper GI-tract.…”