Simultaneous Stereoscope Localization and Soft-Tissue Mapping for Minimal Invasive Surgery

Abstract

Abstract. Minimally Invasive Surgery (MIS) has recognized benefits of reduced patient trauma and recovery time. In practice, MIS procedures present a number of challenges due to the loss of 3D vision and the narrow field-ofview provided by the camera. The restricted vision can make navigation and localization within the human body a challenging task. This paper presents a robust technique for building a repeatable long term 3D map of the scene whilst recovering the camera movement based on Simultaneous Localization and Mapping (SLAM). A sequential vision only approach is adopted which provides 6 DOF camera movement that exploits the available textured surfaces and reduces reliance on strong planar structures required for range finders. The method has been validated with a simulated data set using real MIS textures, as well as in vivo MIS video sequences. The results indicate the strength of the proposed algorithm under the complex reflectance properties of the scene, and the potential for real-time application for integrating with the existing MIS hardware.

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

“…In this case, the hardware setup remains the same, and only the run-time of the algorithm is increased. Some approaches use several stereo image pairs, acquired over the time, in order to obtain a more accurate pose estimation than with monocular SLAM (Mountney et al, 2006) or to create a denser surface (Totz et al, 2011;Röhl et al, 2012). Earlier works explored the combination of monocular visual cues such as shading with stereoscopic cues (Lo et al, 2008) to overcome the limitations of stereo in homogeneous regions by exploiting the relative information recovered from shading.…”

“…An EKF SLAM approach was proposed (Mountney et al, 2006) to build sparse 3D reconstructions of the abdomen and recover the motion of a stereo laparoscope. With the addition of an image pre-processing step, the system was used with low resolution stereo fibre image guides (10,000 fibres) (Noonan et al, 2009) and demonstrated reconstruction accuracy of less than 3 mm of error on phantom data.…”

Simultaneous Compliance and Registration Estimation for Robotic Surgery

“…Unfortunately ICP is too computationally expensive to update registration parameters in real time. Probabilistic filtering based approaches have been developed to perform registration [15,12]. These techniques primarily use line of sight measurements, i.e, 3D vision or range scanning, to output a map of locations of anatomical structures and landmarks.…”

Dual Surgical Navigation Using Augmented and Virtual Environment Techniques

“…However, the color of translucent images may either be unclear or interfere with the background endoscopic images. There have also been several studies of systems that use 3-D endoscopes to provide 3-D depth information (Mitchell et al 2002;Mountney et al 2006;Mourgues, Devernay, and CosteManiere 2001;Mueller-Richter et al 2003). Moreover, there are several commercial systems, such as 3-D=2-D endoscopic imaging systems for the da Vinci surgical NOMENCLATURE CM T C transformation matrix of the endoscopic camera from the marker attached to the endoscopic camera CP T C transformation matrix of the endoscopic camera from the calibration pattern P T C transformation matrix of the endoscopic camera from the position sensor P T CM transformation matrix of the marker attached to the endoscopic camera from the position sensor P T CP transformation matrix of the position sensor to the calibration pattern system (Olympus Co. Ltd, Tokyo, Japan), wedge prism 3-D endoscope (Shinko Optical Co. Ltd, Tokyo, Japan), and Wasol's 3-D endoscope (Wasol, Seoul, Korea).…”