Overview of Photogrammetric Measurement Techniques in Minimally Invasive Surgery Using Endoscopes

Abstract

ABSTRACT:This contribution provides an overview of various photogrammetric measurement techniques in minimally invasive surgery and presents a self-developed prototypical trinocular endoscope for reliable surface measurements. Most of the presented techniques focus on applications regarding laparoscopy, which mean endoscopic operations in the abdominal or pelvic cavities. Since endoscopic operations are very demanding to the surgeon, various assistant systems have been developed. Imaging systems may use photogrammetric techniques in order to perform 3D measurements during operation. The intra-operatively acquired 3D data may be used for analysis, model registration, guidance or documentation. Passive and active techniques have been miniaturised, integrated into endoscopes and investigated by several research groups. The main advantages and disadvantages of several active and passive techniques adapted to laparoscopy are described in this contribution. Additionally, a self-developed trinocular endoscope is described and evaluated.

Advances in Real-Time 3D Reconstruction for Medical Endoscopy

“…To analyze the frequencies and determine the distance to the surface, a Fourier transform is used [88]. Binocular and Monocular methods tend to fail when using triangulation on homogeneous regions due to a depletion of separable landmarks [89]. Lucesoli et al [90] propose endoscopic single-point laser distance sensing, to measure the distance between the endoscope and the surface.…”

“…The results of the trinocular setup are compared to a binocular setup running an SGBM algorithm [140] from the OpenCV library. Conen and Luhmann [89] determine the MAE to the ground truth for the trinocular setup to be 0.29 mm with a SD of 1.14 mm, while the trinocular endoscope is positioned 210 mm away from the object. For the binocular setup, the authors record an MAE to the ground truth of 0.21 mm with a SD of 1.48 mm for the same distance setup.…”

Circular Path Generation for Toroidal Cavity Inspection

“…Recent publications describe advanced localization and real time tracking techniques based on these. Examples include the use of optical models for improvements in accuracy of endoscopic measurements [8], photogrammetry for obtaining 3D maps on a larger scale [3], [4] or approaches for localizing the probe relatively against the inner spaces using triangulation and other optical solutions [11] or even using shape sensing of the hose itself [14]. Additionally, some authors have claimed applications in microscopy using endoscopes [9].…”