Abstract
This paper describes the first accomplishment of the Time-of-Flight (ToF) measurement principle via endoscope optics. The applicability of the approach is verified by in-vitro experiments. Off-the-shelf ToF camera sensors enable the per-pixel, on-chip, real-time, marker-less acquisition of distance information. The transfer of the emerging ToF measurement technique to endoscope optics is the basis for a new generation of ToF rigid or flexible 3-D endoscopes. No modification of the endoscope optic itself is necessary as only an enhancement of illumination unit and image sensors is necessary. The major contribution of this paper is threefold: First, the accomplishment of the ToF measurement principle via endoscope optics; second, the development and validation of a complete calibration and post-processing routine; third, accomplishment of extensive in-vitro experiments. Currently, a depth measurement precision of 0.89 mm at 20 fps with 3072 3-D points is achieved.
The authors gratefully acknowledge funding of the Erlangen Graduate School in Advanced Optical Technologies (SAOT) by the German National Science Foundation (DFG) in the framework of the excellence initiative.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Wengert, C., Bossard, L., Häberling, A., Baur, C., Székely, G., Cattin, P.C.: Endoscopic Navigation for Minimally Invasive Suturing. In: Ayache, N., Ourselin, S., Maeder, A. (eds.) MICCAI 2007, Part II. LNCS, vol. 4792, pp. 620–627. Springer, Heidelberg (2007)
Votanopoulos, K., Brunicardi, F., Thornby, J., Bellows, C.: Impact of three-dimensional vision in laparoscopic training. World Journal Of Surgery 32(1), 110–118 (January 2008)
Yoshida, T., Inoue, H., Hara, E., Umezawa, A., Ohtsuka, K., Endo, S., Tamegai, Y., Kashida, H., Tanaka, J., Kudo, S.: Newly developed 3D endoscopic system: preliminary experience. Endoscopy 35(2), 181–184 (2003)
Burschka, D., Li, M., Taylor, R., Hager, G.D.: Scale-Invariant Registratiou of Monocular Endoscopic Images to CT-Scans for Sinus Surgery. In: Barillot, C., Haynor, D.R., Hellier, P. (eds.) MICCAI 2004. LNCS, vol. 3217, pp. 413–421. Springer, Heidelberg (2004)
Mountney, P., Stoyanov, D., Davison, A.J., Yang, G.-Z.: Simultaneous Stereoscope Localization and Soft-Tissue Mapping for Minimal Invasive Surgery. In: Larsen, R., Nielsen, M., Sporring, J. (eds.) MICCAI 2006. LNCS, vol. 4190, pp. 347–354. Springer, Heidelberg (2006)
Hu, M., Penney, G., Edwards, P., Figl, M., Hawkes, D.: 3D Reconstruction of Internal Organ Surfaces for Minimal Invasive Surgery. In: Ayache, N., Ourselin, S., Maeder, A. (eds.) MICCAI 2007, Part I. LNCS, vol. 4791, pp. 68–77. Springer, Heidelberg (2007)
Lo, B., Scarzanella, M.V., Stoyanov, D., Yang, G.Z.: Belief Propagation for Depth Cue Fusion in Minimally Invasive Surgery. In: Metaxas, D., Axel, L., Fichtinger, G., Székely, G. (eds.) MICCAI 2008, Part II. LNCS, vol. 5242, pp. 104–112. Springer, Heidelberg (2008)
Kolenovic, E., Osten, W., Klattenhoff, R., Lai, S., von Kopylow, C., Jüptner, W.: Miniaturized Digital Holography Sensor for Distal Three-Dimensional Endoscopy. Appl. Opt. 42(25), 5167–5172 (2003)
Hayashibe, M., Suzuki, N., Nakamura, Y.: Laser-scan endoscope system for intraoperative geometry acquisition and surgical robot safety management. Medical Image Analysis 10(4), 509–519 (2006); Special Issue on Functional Imaging and Modelling of the Heart (FIMH 2005)
Hayashibe, M., Suzuki, N., Hattori, A., Nakamura, Y.: Intraoperative Fast 3D Shape Recovery of Abdominal Organs in Laparoscopy. In: Dohi, T., Kikinis, R. (eds.) MICCAI 2002. LNCS, vol. 2489, pp. 356–363. Springer, Heidelberg (2002)
Xu, Z., Schwarte, R., Heinol, H., Buxbaum, B., Ringbeck, T.: Smart Pixel – Photometric Mixer Device (PMD) / New System Concept of a 3D-Imaging-on-a-Chip. In: 5th International Conference on Mechatronics and Machine Vision in Practice, Nanjing, pp. 259–264 (1998)
Zhang, Z.: A Flexible New Technique For Camera Calibration. IEEE Transactions on Pattern Analysis and Machine Intelligence 22(11), 1330–1334 (2000)
Tomasi, C., Manduchi, R.: Bilateral Filtering for Gray and Color Images. In: Sixth International Conference on Computer Vision (ICCV 1998), pp. 839–846 (1998)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Penne, J. et al. (2009). Time-of-Flight 3-D Endoscopy. In: Yang, GZ., Hawkes, D., Rueckert, D., Noble, A., Taylor, C. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2009. MICCAI 2009. Lecture Notes in Computer Science, vol 5761. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04268-3_58
Download citation
DOI: https://doi.org/10.1007/978-3-642-04268-3_58
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-04267-6
Online ISBN: 978-3-642-04268-3
eBook Packages: Computer ScienceComputer Science (R0)