Abstract
Recent introduction of dynamic view expansion has led to the development of computer vision methods for minimally invasive surgery to artificially expand the intra-operative field-of-view of the laparoscope. This provides improved awareness of the surrounding anatomical structures and minimises the effect of disorientation during surgical navigation. It permits the augmentation of live laparoscope images with information from previously captured views. Current approaches, however, can only represent the tissue geometry as planar surfaces or sparse 3D models, thus introducing noticeable visual artefacts in the final rendering results. This paper proposes a high-fidelity tissue geometry mapping by combining a sparse SLAM map with semi-dense surface reconstruction. The method is validated on phantom data with known ground truth, as well as in-vivo data captured during a robotic assisted MIS procedure. The derived results have shown that the method is able to effectively increase the coverage of the expanded surgical view without compromising mapping accuracy.
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
Hu, M., Penney, G., Rueckert, D., Edwards, P., Bello, F., Figl, M., Casula, R., Cen, Y., Liu, J., Miao, Z., Hawkes, Z.M.D.: A robust mosaicing method with super-resolution for optical medical images. In: Liao, H., Edwards, P.J., Pan, X., Fan, Y., Yang, G.-Z. (eds.) MIAR 2010. LNCS, vol. 6326, pp. 373–382. Springer, Heidelberg (2010)
Lerotic, M., Chung, A.J., Clark, J., Valibeik, S., Yang, G.-Z.: Dynamic view expansion for enhanced navigation in natural orifice transluminal endoscopic surgery. In: Metaxas, D., Axel, L., Fichtinger, G., Székely, G. (eds.) MICCAI 2008, Part II. LNCS, vol. 5242, pp. 467–475. Springer, Heidelberg (2008)
Seshamani, S., Lau, W., Hager, G.D.: Real-time endoscopic mosaicking. In: Larsen, R., Nielsen, M., Sporring, J. (eds.) MICCAI 2006. LNCS, vol. 4190, pp. 355–363. Springer, Heidelberg (2006)
Carroll, R.E., Seitz, S.M.: Rectified surface mosaics. In: IEEE 11th International Conference on Computer Vision, pp. 1–8 (October 2007)
Mountney, P., Yang, G.Z.: Dynamic view expansion for minimally invasive surgery using simultaneous localization and mapping. In: 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp. 1184–1187 (September 2009)
Totz, J., Fujii, K., Mountney, P., Yang, G.Z.: Enhanced visualisation for minimally invasive surgery. International Journal of Computer Assisted Radiology and Surgery (2011), doi:10.1007/s11548-011-0631-z
Stoyanov, D., Scarzanella, M.V., Pratt, P., Yang, G.-Z.: Real-time stereo reconstruction in robotically assisted minimally invasive surgery. In: Jiang, T., Navab, N., Pluim, J.P.W., Viergever, M.A. (eds.) MICCAI 2010. LNCS, vol. 6361, pp. 275–282. Springer, Heidelberg (2010)
Moll, M., Tang, H.-W., Van Gool, L.: GPU-accelerated robotic intra-operative laparoscopic 3D reconstruction. In: Navab, N., Jannin, P. (eds.) IPCAI 2010. LNCS, vol. 6135, pp. 91–101. Springer, Heidelberg (2010)
Newcombe, R.A., Davison, A.J.: Live dense reconstruction with a single moving camera. In: IEEE Computer Society Conference on Computer Vision and Pattern Recognition, pp. 1498–1505 (2010)
Telea, A.: An image inpainting technique based on the fast marching method. Journal of Graphics Tools 9(1) (2004)
Mountney, P., Stoyanov, D., Yang, G.Z.: Three-dimensional tissue deformation recovery and tracking: Introducing techniques based on laparoscopic or endoscopic images. IEEE Signal Processing Magazine 27(4), 14–24 (2010)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2011 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Totz, J., Mountney, P., Stoyanov, D., Yang, GZ. (2011). Dense Surface Reconstruction for Enhanced Navigation in MIS. In: Fichtinger, G., Martel, A., Peters, T. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2011. MICCAI 2011. Lecture Notes in Computer Science, vol 6891. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-23623-5_12
Download citation
DOI: https://doi.org/10.1007/978-3-642-23623-5_12
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-23622-8
Online ISBN: 978-3-642-23623-5
eBook Packages: Computer ScienceComputer Science (R0)