Phantom-based comparison of the accuracy of point clouds extracted from stereo cameras and laser range scanner

Kumar, Ankur N.; Pheiffer, Thomas S.; Simpson, Amber L.; Thompson, Reid C.; Miga, Michael I.; Dawant, Benoît M.

doi:10.1117/12.2008036

Cited by 14 publications

(19 citation statements)

References 24 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Based on a preliminary feasibility study [36], this work presented a comprehensive evaluation of the major state-of-the-art surface reconstruction techniques in vitro with a focus on (1) comparability of techniques and (2) robustness with respect to a variety of clinically relevant parameters, such as organ shape and texture, endoscope pose, as well as smoke and blood in the FoV of the endoscope. Previous works primarily validated individual techniques in close to ideal settings, and the few comparative validation studies were published in non-medical contexts [37] or in the context of open surgery [37], [38], [39]. The following sections discuss the performance of the individual reconstruction methods (sec: V-A) as well as the validation method applied (sec: V-B).…”

Section: Discussionmentioning

confidence: 99%

Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction

Maier-Hein

Groch

Bartoli

et al. 2014

IEEE Trans. Med. Imaging

View full text Add to dashboard Cite

Abstract-Intra-operative imaging techniques for obtaining the shape and morphology of soft-tissue surfaces in vivo are a key enabling technology for advanced surgical systems. Different optical techniques for 3D surface reconstruction in laparoscopy have been proposed, however, so far no quantitative and comparative validation has been performed. Furthermore, robustness of the methods to clinically important factors like smoke or bleeding has not yet been assessed. To address these issues, we have formed a joint international initiative with the aim of validating different state-of-the-art passive and active reconstruction methods in a comparative manner. In this comprehensive in vitro study, we investigated reconstruction accuracy using different organs with various shape and texture and also tested reconstruction robustness with respect to a number of factors like the pose of the endoscope as well as the amount of blood or smoke present in the scene. The study suggests complementary advantages of the different techniques with respect to accuracy, robustness, point density, hardware complexity and computation time. While reconstruction accuracy under ideal conditions was generally high, robustness is a remaining issue to be addressed. Future work should include sensor fusion and in vivo validation studies in a specific clinical context.

show abstract

Section: Discussionmentioning

confidence: 99%

Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction

Maier-Hein

Groch

Bartoli

et al. 2014

IEEE Trans. Med. Imaging

View full text Add to dashboard Cite

show abstract

“…We have documented the geometric accuracy of our LRS approach as root mean squared (RMS) error of 0.47 mm and the RMS error of the tracked LRS as 2.4 mm [27]. We have similar accuracies with our stereo-pair work too [14]. While the latter method is more favorable to surgical microscope workflows, the former has the advantage of a direct measure of the field with no feature identification needed.…”

Section: Introductionmentioning

confidence: 91%

“…We should note that our deformation correction approaches have been focused on intraoperative surface acquisition methods to include LRS [22], stereo-pair reconstruction [14], and now conoscopic holography. The advantage of these approaches is their ease of integration within the operating room workflow.…”

Section: Introductionmentioning

confidence: 99%

Evaluation of Conoscopic Holography for Estimating Tumor Resection Cavities in Model-Based Image-Guided Neurosurgery

Simpson

Sun

Pheiffer

et al. 2014

IEEE Trans. Biomed. Eng.

Self Cite

View full text Add to dashboard Cite

Surgical navigation relies on accurately mapping the intraoperative state of the patient to models derived from preoperative images. In image-guided neurosurgery, soft tissue deformations are common and have been shown to compromise the accuracy of guidance systems. In lieu of whole-brain intraoperative imaging, some advocate the use of intraoperatively acquired sparse data from laser-range scans, ultrasound imaging, or stereo reconstruction coupled with a computational model to drive subsurface deformations. Some authors have reported on compensating for brain sag, swelling, retraction, and the application of pharmaceuticals such as mannitol with these models. To date, strategies for modeling tissue resection have been limited. In this paper, we report our experiences with a novel digitization approach, called a conoprobe, to document tissue resection cavities and assess the impact of resection on model-based guidance systems. Specifically, the conoprobe was used to digitize the interior of the resection cavity during eight brain tumor resection surgeries and then compared against model prediction results of tumor locations. We should note that no effort was made to incorporate resection into the model but rather the objective was to determine if measurement was possible to study the impact on modeling tissue resection. In addition, the digitized resection cavity was compared with early postoperative MRI scans to determine whether these scans can further inform tissue resection. The results demonstrate benefit in model correction despite not having resection explicitly modeled. However, results also indicate the challenge that resection provides for model-correction approaches. With respect to the digitization technology, it is clear that the conoprobe provides important real-time data regarding resection and adds another dimension to our noncontact instrumentation framework for soft-tissue deformation compensation in guidance systems.

show abstract

“…These too can also potentially provide 3D cortical surface geometric point clouds in close to real time without disrupting the surgical workflow. In [8], [9], work has been done to evaluate the accuracy of stereo cameras but it was done on static phantoms. In this work, we evaluate the accuracy of stereo-pair-based surface reconstruction algorithms with a device we have designed to generate realistic cortical deformations compatible with those measured during tumor resection.…”

Section: Introductionmentioning

confidence: 99%

A novel craniotomy simulation system for evaluation of stereo-pair reconstruction fidelity and tracking

Yang

Clements

Conley

et al. 2016

Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling

Self Cite

View full text Add to dashboard Cite

Brain shift compensation using computer modeling strategies is an important research area in the field of image-guided neurosurgery (IGNS). One important source of available sparse data during surgery to drive these frameworks is deformation tracking of the visible cortical surface. Possible methods to measure intra-operative cortical displacement include laser range scanners (LRS), which typically complicate the clinical workflow, and reconstruction of cortical surfaces from stereo pairs acquired with the operating microscopes. In this work, we propose and demonstrate a craniotomy simulation device that permits simulating realistic cortical displacements designed to measure and validate the proposed intra-operative cortical shift measurement systems. The device permits 3D deformations of a mock cortical surface which consists of a membrane made of a Dragon Skin® high performance silicone rubber on which vascular patterns are drawn. We then use this device to validate our stereo pair-based surface reconstruction system by comparing landmark positions and displacements measured with our systems to those positions and displacements as measured by a stylus tracked by a commercial optical system. Our results show a 1mm average difference in localization error and a 1.2mm average difference in displacement measurement. These results suggest that our stereo-pair technique is accurate enough for estimating intra-operative displacements in near real-time without affecting the surgical workflow.

show abstract

Phantom-based comparison of the accuracy of point clouds extracted from stereo cameras and laser range scanner

Cited by 14 publications

References 24 publications

Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction

Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction

Evaluation of Conoscopic Holography for Estimating Tumor Resection Cavities in Model-Based Image-Guided Neurosurgery

A novel craniotomy simulation system for evaluation of stereo-pair reconstruction fidelity and tracking

Contact Info

Product

Resources

About