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

Abstract

Intra-operative imaging techniques for obtaining the shape and morphology of soft-tissue surfaces in vivo are a key enabling technology for advanced surgical systems. Different optical techniques for 3-D surface reconstruction in laparoscopy have been proposed, however, so far no quantitative and comparative validation has been performed. Furthermore, robustness of the methods to clinically important factors like smoke or bleeding has not yet been assessed. To address these issues, we have formed a joint international initiative with the aim of validating different state-of-the-art passive and active reconstruction methods in a comparative manner. 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 factors like the pose of the endoscope as well as the amount of blood or smoke present in the scene. The study suggests complementary advantages of the different techniques with respect to accuracy, robustness, point density, hardware complexity and computation time. While reconstruction accuracy under ideal conditions was generally high, robustness is a remaining issue to be addressed. Future work should include sensor fusion and in vivo validation studies in a specific clinical context. To trigger further research in surface reconstruction, stereoscopic data of the study will be made publically available at www.open-CAS.com upon publication of the paper.

DOI: 10.1109/TMI.2014.2325607
0204060201520162017
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@article{MaierHein2014ComparativeVO, title={Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction}, author={Lena Maier-Hein and Anja Groch and Adrien Bartoli and Sebastian Bodenstedt and G. Boissonnat and P.-L. Chang and Neil Clancy and Daniel S. Elson and Sven Haase and Eric Heim and Joachim Hornegger and Pierre Jannin and Hannes Kenngott and Thomas Kilgus and Beat P. M{\"{u}ller-Stich and D. Oladokun and Sebastian R{\"{o}hl and Thiago R. dos Santos and Heinz-Peter Schlemmer and Alexander Seitel and Stefanie Speidel and Martin Wagner and Danail Stoyanov}, journal={IEEE transactions on medical imaging}, year={2014}, volume={33 10}, pages={1913-30} }