• Corpus ID: 238531762

Stereo Dense Scene Reconstruction and Accurate Laparoscope Localization for Learning-Based Navigation in Robot-Assisted Surgery

  title={Stereo Dense Scene Reconstruction and Accurate Laparoscope Localization for Learning-Based Navigation in Robot-Assisted Surgery},
  author={Ruofeng Wei and Bin Li and Hangjie Mo and Bo Lu and Yonghao Long and Bohan Yang and Qi Dou and Yunhui Liu and Dong Sun},
  • Ruofeng Wei, Bin Li, +6 authors Dong Sun
  • Published 8 October 2021
  • Computer Science, Engineering
  • ArXiv
The computation of anatomical information and laparoscope position is a fundamental block of robot-assisted surgical navigation in Minimally Invasive Surgery (MIS). Recovering a dense 3D structure of surgical scene using visual cues remains a challenge, and the online laparoscopic tracking mostly relies on external sensors, which increases system complexity. In this paper, we propose a learning-driven framework, in which an image-guided laparoscopic localization with 3D reconstructions of… 

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