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Video-based 3D reconstruction, laparoscope localization and deformation recovery for abdominal minimally invasive surgery: a survey
2015
International Journal of Medical Robotics and Computer Assisted Surgery
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First, as fundamental tasks in 3D reconstruction and laparoscope localization, feature detection and feature tracking methods are discussed. ...
The intra-operative three-dimensional (3D) structure of tissue organs and laparoscope motion are the basis for many tasks in computerassisted surgery (CAS), such as safe surgical navigation and registration ...
Feature detection and feature tracking Image feature detection and feature tracking are fundamental steps in many applications, such as structure and pose estimation, deformation recovery and augmented ...
doi:10.1002/rcs.1661
pmid:25931190
fatcat:mlbmwiklmrcmjojendit3ve3qu
Robust Intraoperative US Probe Tracking Using a Monocular Endoscopic Camera
[chapter]
2013
Lecture Notes in Computer Science
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We describe an Extended Kalman Filter framework that solves for both the feature correspondence and pose estimation, and is able to track a 3D pattern on the surface of the ultrasound probe in near real-time ...
This approach requires only cosmetic modification to the ultrasound probe and obviates the need for magnetic tracking of either instrument. ...
The authors thank Mohammad Ali Tavallaei and John Moore for their laboratory assistance. ...
doi:10.1007/978-3-642-40760-4_46
fatcat:b65jzaepmrbefet2ysbgefgysa
Image-based navigation for functional endoscopic sinus surgery using structure from motion
2016
Medical Imaging 2016: Image Processing
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Functional Endoscopic Sinus Surgery (FESS) is a challenging procedure for otolaryngologists and is the main surgical approach for treating chronic sinusitis, to remove nasal polyps and open up passageways ...
overlaying virtual structures on the endoscope images. ...
The sequences generated an average of 910 3D points and the initial pose estimate for the TriICP was manually given. ...
doi:10.1117/12.2217279
pmid:29225400
pmcid:PMC5720359
dblp:conf/miip/LeonardRSITH16
fatcat:qbxfubrfarbeheedwowm3pybeu
Simultaneous Multi-Structure Segmentation and 3D Nonrigid Pose Estimation in Image-Guided Robotic Surgery
2016
IEEE Transactions on Medical Imaging
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More specifically, we estimate and track the pose of the preoperative models in 3D and consider the models' non-rigid deformations to match with corresponding visual cues in multi-channel endoscopic video ...
The idea is to segment multiple poorly visible structures in the stereo/multichannel endoscopic videos by fusing reliable prior knowledge captured from the preoperative 3D scans. ...
Our first synthetic test evaluates the pose recovery capabilities (robustness to initial pose) of our method. ...
doi:10.1109/tmi.2015.2452907
pmid:26151933
fatcat:md4wmct2avdq3ags3oxdiafy7y
Scale-invariant registration of monocular endoscopic images to CT-scans for sinus surgery
2005
Medical Image Analysis
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In this paper, we present a novel method for intra-operative registration directly from monocular endoscopic images. ...
A by-product of video registration is an estimate of the local surface structure of the anatomy, thus providing the opportunity to dynamically update anatomical models as the surgery progresses. ...
Acknowledgments Partial funding of this research was provided by the National Science Foundation under Grants EEC9731748 (CISST ERC), IIS9801684, IIS0099770, and IIS0205318. ...
doi:10.1016/j.media.2005.05.005
pmid:16009593
fatcat:u43h3cx32fawxk36jw7vids2vm
Scale-Invariant Registratiou of Monocular Endoscopic Images to CT-Scans for Sinus Surgery
[chapter]
2004
Lecture Notes in Computer Science
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In this paper, we present a novel method for intra-operative registration directly from monocular endoscopic images. ...
A by-product of video registration is an estimate of the local surface structure of the anatomy, thus providing the opportunity to dynamically update anatomical models as the surgery progresses. ...
Acknowledgments Partial funding of this research was provided by the National Science Foundation under Grants EEC9731748 (CISST ERC), IIS9801684, IIS0099770, and IIS0205318. ...
doi:10.1007/978-3-540-30136-3_51
fatcat:nh2edfc6d5dk5awte3kcfdplpu
Robust camera localisation with depth reconstruction for bronchoscopic navigation
2015
International Journal of Computer Assisted Radiology and Surgery
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It is shown that the proposed approach is more robust to illumination artefacts and surface texture and less sensitive to camera pose initialisation. ...
Results The proposed depth-based tracking approach has been validated on both phantom and in vivo data. ...
Research involving Human Participants and/or Animals: For this type of study formal consent is not required. ...
doi:10.1007/s11548-015-1197-y
pmid:25903774
fatcat:fgyq544khngntnmu64azx4zt4u
SD-DefSLAM: Semi-Direct Monocular SLAM for Deformable and Intracorporeal Scenes
[article]
2020
arXiv
pre-print
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Bundle Adjustment for pose and deformable map estimation, and bag-of-words based on feature descriptors for camera relocation. ...
Our results show that SD-DefSLAM outperforms DefSLAM in point tracking, reconstruction accuracy and scale drift thanks to the improvement in all the data association steps, being the first system able ...
Left: features tracked in the endoscopic image using photometric techniques. Right: camera motion and growing deformable map estimated by minimizing geometric error. ...
arXiv:2010.09409v1
fatcat:4p752xhzvncnzgj3qcuhegi3bi
SLAM-based dense surface reconstruction in monocular Minimally Invasive Surgery and its application to Augmented Reality
2018
Computer Methods and Programs in Biomedicine
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Methods A state-of-the-art Simultaneous Localization And Mapping (SLAM) algorithm used in robotics has been extended to deal with monocular MIS surgical scenes for reliable endoscopic camera tracking and ...
This demonstrates the potential of our algorithm for accurate AR localization and depth augmentation with geometric cues and correct surface measurements in MIS with monocular endoscopes. ...
SLAM-enabled systems make it possible to estimate the 3D structure of the MIS scene from a moving endoscope camera and simultaneously track the pose of the camera. ...
doi:10.1016/j.cmpb.2018.02.006
pmid:29544779
fatcat:v4bhbs7wzzej7pifadeffhwzqm
Toward Long-Term and Accurate Augmented-Reality for Monocular Endoscopic Videos
2014
IEEE Transactions on Biomedical Engineering
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In this paper, we present the design of a new AR system that represents a first step toward long term and accurate augmented surgical display for monocular (calibrated and uncalibrated) endoscopic videos ...
Existing AR surgical systems lack in robustness and accuracy because of the many challenges in endoscopic imagery, such as frequent changes in illumination, rapid camera motions, prolonged organ occlusions ...
In order to track image features (corners) among consecutive endoscopic video frames, we adopted the feature-tracking algorithm in [35] , which is robust to changes in illumination. ...
doi:10.1109/tbme.2014.2323999
pmid:24835126
fatcat:d4kgdz5vbvfo7m6kgjuzvmzuiu
Long Term Safety Area Tracking (LT-SAT) with online failure detection and recovery for robotic minimally invasive surgery
2018
Medical Image Analysis
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(0.7) and recall (0.8) values, and with a recovery time after a failure between 1 and 8 frames in the worst case. ...
The purpose of this paper is to develop computer vision algorithms to robustly track soft tissue areas (Safety Area, SA), defined intra-operatively by the surgeon based on the real-time endoscopic images ...
Acknowledgements Authors would like to thank Max Allan for his kind help during the recording of the videos used for the dataset, and the DVRK community and Intuitive Surgical for the DVRK data.
695 ...
doi:10.1016/j.media.2017.12.010
pmid:29329053
fatcat:chru5yiy7zfd5cha4e4w4xdhpa
A non-rigid map fusion-based direct SLAM method for endoscopic capsule robots
2017
International Journal of Intelligent Robotics and Applications
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In this paper, we propose to our knowledge for the first time in literature a visual simultaneous localization and mapping (SLAM) method specifically developed for endoscopic capsule robots. ...
This is achieved by using dense frame-to-model camera tracking and windowed surfelbased fusion coupled with frequent model refinement through non-rigid surface deformations. ...
reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. ...
doi:10.1007/s41315-017-0036-4
pmid:29250588
pmcid:PMC5727175
dblp:journals/ijira/TuranAAKS17
fatcat:iivmnub3irfrvgyjtgcl3sehni
Soft-Tissue Motion Tracking and Structure Estimation for Robotic Assisted MIS Procedures
[chapter]
2005
Lecture Notes in Computer Science
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In robotically assisted laparoscopic surgery, soft-tissue motion tracking and structure recovery are important for intraoperative surgical guidance, motion compensation and delivering active constraints ...
In this paper, we present a novel method for feature based motion tracking of deformable soft-tissue surfaces in totally endoscopic coronary artery bypass graft (TECAB) surgery. ...
Acknowledgements The authors thank Eddy Kavanagh, Danny Sharpe and Bob Pullen for their valuable help and Roberto Casula for kindly providing the in vivo data used in this study. ...
doi:10.1007/11566489_18
fatcat:w2zjrmoh7rcr5dzpo2qgjvm3ka
Sparse-then-dense alignment-based 3D map reconstruction method for endoscopic capsule robots
2017
Machine Vision and Applications
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To the best of our knowledge, this framework is the first complete pipeline for an endoscopic capsule robot based 3D map reconstruction containing all of the necessary steps for a reliable and accurate ...
endoscopic 3D map. ...
reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. ...
doi:10.1007/s00138-017-0905-8
fatcat:fb5ikpqzjnd7zad2za2nig5pqm
Pose Estimation and Feature Tracking for Robot Assisted Surgery with Medical Imaging
[chapter]
2008
Lecture Notes in Electrical Engineering
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Marescaux, Leroy, Soler and Gangi for their advices, as well as for the use of their facilities. ...
The experimental part of this work has been made possible thanks to the collaboration with the Department of Radiology at the Strasbourg Hospital and the "Institut de Recherche contre les Cancers de l'Appareil ...
Pose estimation and tracking with medical visual devices
Pose estimation and tracking with medical visual devices
Pose estimation and tracking with medical visual devices
Pose estimation ...
doi:10.1007/978-0-387-75523-6_6
fatcat:6unzvpgfjnhdrl2x4scaias4dy
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