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N. Conen, T. Luhmann
2017 The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences  
This contribution provides an overview of various photogrammetric measurement techniques in minimally invasive surgery and presents a self-developed prototypical trinocular endoscope for reliable surface  ...  The main advantages and disadvantages of several active and passive techniques adapted to laparoscopy are described in this contribution.  ...  These requirements and the complex imaging conditions make surface reconstruction one of the main challenges in CAS.  ... 
doi:10.5194/isprs-archives-xlii-2-w4-33-2017 fatcat:awl6zuhdbbdptox22bbw5x6ptq

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

L. Maier-Hein, A. Groch, A. Bartoli, S. Bodenstedt, G. Boissonnat, P.-L. Chang, N. T. Clancy, D. S. Elson, S. Haase, E. Heim, J. Hornegger, P. Jannin (+11 others)
2014 IEEE Transactions on Medical Imaging  
factors like the pose of the endoscope as well as the amount of blood or smoke present in the scene.  ...  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  ...  ACKNOWLEDGEMENTS The authors would like to thank Richard Wolf GmbH for providing the ToF endoscope and the HD stereo endoscope for this study.  ... 
doi:10.1109/tmi.2014.2325607 pmid:24876109 fatcat:4sk6eieiefb2pb7yduilo57qru

Synthesis of stereoscopic views from monocular endoscopic videos

Jin Zhou, Qiang Zhang, Baoxin Li, Ananya Das
2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Workshops  
However, most existing endoscopes still use single-lens cameras, and the use of duallens 3D imaging techniques is still limited.  ...  Both synthetic images and real endoscopic videos are used to evaluate the proposed method. The results demonstrate the feasibility and effectiveness of the proposed method.  ...  As a result, despite the above challenges of real endoscopic data, our method can still successfully recover the camera motions and many 3D points.  ... 
doi:10.1109/cvprw.2010.5543447 dblp:conf/cvpr/ZhouZLD10 fatcat:glceahpqanaovmevoi6racajzy

Endoscopic stereo reconstruction: A comparative study

Mostafa Parchami, Jeffrey A. Cadeddu, Gian-Luca Mariottini
2014 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society  
While methods for stereo reconstruction have been extensively investigated for man-made environments, such an extensive and detailed study on the pros and cons of stereo reconstruction for endoscopic images  ...  In this paper, we extensively compare several state-of-the-art methods on both simulated as well as real endoscopic images over controlled in-lab and phantom models observed by a daVinci stereo endoscope  ...  STEREO RECONSTRUCTION Stereo reconstruction aims at obtaining a metric 3-D reconstruction of a scene as it is being observed by two (left {L} and right {R}) endoscopic cameras.  ... 
doi:10.1109/embc.2014.6944115 pmid:25570483 dblp:conf/embc/ParchamiCM14 fatcat:xki57rq74fde5p3pyulli74m5q

Domain gap in adapting self-supervised depth estimation methods for stereo-endoscopy

Lalith Sharan, Lukas Burger, Georgii Kostiuchik, Ivo Wolf, Matthias Karck, Raffaele De Simone, Sandy Engelhardt
2020 Current Directions in Biomedical Engineering  
In this paper, an existing self-supervised approach, called Monodepth [1], from the field of autonomous driving is applied to a novel dataset of stereo-endoscopic images from reconstructive mitral valve  ...  While it is already known that endoscopic scenes are more challenging than outdoor driving scenes, the paper performs experiments to quantify the comparison, and describe the domain gap and challenges  ...  The mono model uses temporal frames as the input, the stereo model uses the corresponding stereo frame as the input, and the mixed model uses both the temporal and the corresponding stereo frames as input  ... 
doi:10.1515/cdbme-2020-0004 fatcat:wvswzre3yfatznufc7gnx7ctxq

Multi-view Stereo and Advanced Navigation for Transanal Endoscopic Microsurgery [chapter]

Christos Bergeles, Philip Pratt, Robert Merrifield, Ara Darzi, Guang-Zhong Yang
2014 Lecture Notes in Computer Science  
The endoscope motion is tracked based on the 3D scene and its field-of-view is visualised jointly with the preoperative information.  ...  Transanal endoscopic microsurgery (TEM), i.e., the local excision of rectal carcinomas by way of a bimanual operating system with magnified binocular vision, is gaining acceptance in lieu of more radical  ...  Fig. 4 . 4 In vivo evaluation of multiview stereo reconstruction: (a), (c), (e) Evolution of the reconstructed point cloud. (b), (d), (f) Interpolated reconstruction and meshing.  ... 
doi:10.1007/978-3-319-10470-6_42 fatcat:6p3wzlig75bg7iskrlugfgdyxa

A comparative study on 3-D stereo reconstruction from endoscopic images

Mostafa Parchami, Gian-Luca Mariottini
2014 Proceedings of the 7th International Conference on PErvasive Technologies Related to Assistive Environments - PETRA '14  
Also, the advantages and disadvantages of each method for different stages of the stereo-reconstruction pipeline are mentioned and supported by exhaustive experiments on endoscopic images.  ...  While methods for 3-D stereo reconstruction have been extensively investigated for man-made environments, the surgical-vision lacks such studies on 3-D stereo reconstruction methods and their pros and  ...  In this paper, we present the first comparison of 3-D stereo reconstruction methods for endoscopic images.  ... 
doi:10.1145/2674396.2674425 dblp:conf/petra/ParchamiM14 fatcat:2ybt2irjp5h4dntcftuhg24n3y

Endo-Depth-and-Motion: Reconstruction and Tracking in Endoscopic Videos using Depth Networks and Photometric Constraints [article]

David Recasens, José Lamarca, José M. Fácil, J. M. M. Montiel, Javier Civera
2021 arXiv   pre-print
Estimating a scene reconstruction and the camera motion from in-body videos is challenging due to several factors, e.g. the deformation of in-body cavities or the lack of texture.  ...  In this paper we present Endo-Depth-and-Motion, a pipeline that estimates the 6-degrees-of-freedom camera pose and dense 3D scene models from monocular endoscopic videos.  ...  A particularly challenging case are medical images, and our specific application of monocular recordings from endoscopic procedures.  ... 
arXiv:2103.16525v2 fatcat:3dmdzoxqx5c2xeto5pqetzzifa

Video-based 3D reconstruction, laparoscope localization and deformation recovery for abdominal minimally invasive surgery: a survey

Bingxiong Lin, Yu Sun, Xiaoning Qian, Dmitry Goldgof, Richard Gitlin, Yuncheng You
2015 International Journal of Medical Robotics and Computer Assisted Surgery  
of pre-operative and intra-operative data for soft tissues.  ...  The remainder of this article is organized as follows. First, as fundamental tasks in 3D reconstruction and laparoscope localization, feature detection and feature tracking methods are discussed.  ...  Conflict of interest The authors have stated explicitly that there are no conflict of interest in connection with this article.  ... 
doi:10.1002/rcs.1661 pmid:25931190 fatcat:mlbmwiklmrcmjojendit3ve3qu

VisionBlender: a tool to efficiently generate computer vision datasets for robotic surgery

João Cartucho, Samyakh Tukra, Yunpeng Li, Daniel S. Elson, Stamatia Giannarou
2020 Computer Methods in Biomechanics and Biomedical Engineering Imaging & Visualization  
Possible applications are also discussed, and here we present one of those applications where the generated data has been used to train and evaluate state-of-the-art 3D reconstruction algorithms.  ...  VisionBlender was built with special focus on robotic surgery, and examples of endoscopic data that can be generated using this tool are presented.  ...  in the form of tool model CAD data from Intuitive Surgical.  ... 
doi:10.1080/21681163.2020.1835546 fatcat:elcf7u7vqfa4rkrtua5tcwdaga

Pico Lantern: A Pick-up Projector for Augmented Reality in Laparoscopic Surgery [chapter]

Philip Edgcumbe, Philip Pratt, Guang-Zhong Yang, Chris Nguan, Rob Rohling
2014 Lecture Notes in Computer Science  
The absolute error for surface reconstruction using stereo endoscopy and untracked Pico Lantern for a plane, cylinder and ex vivo kidney is 2.0 mm, 3.0 mm and 5.6 mm respectively.  ...  The absolute error using a mono endoscope and a tracked Pico Lantern for the same plane, cylinder and kidney is 0.8mm, 0.3mm and 1.5mm respectively.  ...  This work was funded by CIHR and NSERC and proudly funded by Prostate Cancer Canada -Grant # GS2014-05. Thanks to Caitlin Schneider and Tim Salcudean for advice, help and equipment.  ... 
doi:10.1007/978-3-319-10404-1_54 fatcat:tjrd3mog2barpfq7j3k3ie5wo4

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

L. Maier-Hein, P. Mountney, A. Bartoli, H. Elhawary, D. Elson, A. Groch, A. Kolb, M. Rodrigues, J. Sorger, S. Speidel, D. Stoyanov
2013 Medical Image Analysis  
This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation  ...  One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues.  ...  Acknowledgements The authors would like to acknowledge the Royal Academy of Engineering/EPSRC Research Fellowship and the German Research Foundation (DFG, PD 15577 and Research Training Group 1126) for  ... 
doi:10.1016/ pmid:23837969 fatcat:44gqmq6ms5f2ril4xrn574eljq

3D Surface Reconstruction of Organs Using Patient-Specific Shape Priors in Robot-Assisted Laparoscopic Surgery [chapter]

Alborz Amir-Khalili, Jean-Marc Peyrat, Ghassan Hamarneh, Rafeef Abugharbieh
2013 Lecture Notes in Computer Science  
Our method is validated on an in silico phantom and we show that the combination of both pre-operative and intraoperative data significantly improves surface reconstruction as compared to the ground truth  ...  Reconstructing the surface geometry from camera information alone remains a very challenging problem in RALS mainly due to a small baseline between the optical centres of the cameras, presence of blood  ...  Nosrati for his invaluable input on encoding the shape prior and our clinical collaborators Dr. Abdulla Al Ansari (chairman of surgery at Hammad Medical Corporation) and Dr.  ... 
doi:10.1007/978-3-642-41083-3_21 fatcat:o7omv3ruwjfwhj2afzc7fntdzq

Real-Time Dense Stereo Reconstruction Using Convex Optimisation with a Cost-Volume for Image-Guided Robotic Surgery [chapter]

Ping-Lin Chang, Danail Stoyanov, Andrew J. Davison, Philip "Eddie" Edwards
2013 Lecture Notes in Computer Science  
Stereo reconstruction has been studied for decades but remains a challenge in endoscopic imaging.  ...  Reconstructing the depth of stereo-endoscopic scenes is an important step in providing accurate guidance in robotic-assisted minimally invasive surgery.  ...  In this paper, we build on recent advances in computer vision and the use of variational techniques to efficiently and effectively reconstruct stereo-endoscopic scenes using stereo image pairs.  ... 
doi:10.1007/978-3-642-40811-3_6 fatcat:rtlyqbpno5eqpphmkzrqg3rmlq

Self-supervised Learning for Dense Depth Estimation in Monocular Endoscopy [chapter]

Xingtong Liu, Ayushi Sinha, Mathias Unberath, Masaru Ishii, Gregory D. Hager, Russell H. Taylor, Austin Reiter
2018 Lecture Notes in Computer Science  
Our method only requires sequential data from monocular endoscopic videos and a multi-view stereo reconstruction method, e.g. structure from motion, that supervises learning in a sparse but accurate manner  ...  We demonstrate the performance of our method on sinus endoscopy data from two patients and validate depth prediction quantitatively using corresponding patient CT scans where we found submillimeter residual  ...  Acknowledgement The work reported in this paper was funded in part by NIH R01-EB015530, in part by a research contract from Galen Robotics, and in part by Johns Hopkins University internal funds.  ... 
doi:10.1007/978-3-030-01201-4_15 fatcat:ce4fy2lr25f3fgdogsiftvqm2i
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