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3D surface reconstruction of stereo endoscopic images for minimally invasive surgery

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Abstract

Purpose

Surface to surface registration of MR and endoscopic images is the key to MR and endoscopic image fusion, which will provide the surgeon with better 3D context of the surgical site in minimally invasive procedures. However, accurate reconstruction of 3D surface from stereo endoscopic images is still a challenging task especially for the surgical site with few features. In this paper, we propose a new method to reconstruct 3D surface from stereo endoscopic images.

Methods

We project a gridline light pattern onto the surgical site and then use a stereo endoscope to acquire two stereo images. The major steps in the surface reconstruction process include 1) applying an automatic method of detecting region of interest, 2) applying an image intensity correction algorithm, and 3) applying a novel automatic method to match the intersection points of the gridline pattern.

Results

We have validated our proposed technique on a liver phantom and compared our method with an existing method of similar scope. Our experiment results show that our method outperforms the existing method in terms of correct matching rate (98% vs. 47%) which is an indicator of the surface reconstruction accuracy.

Conclusions

The proposed technique has the potential to be used in clinical practice to improve image guidance in endoscope based minimally invasive procedures. This technique may also be applied to the endoscopic procedures of other organs in the abdomen, chest cavity and pelvis such as kidneys and lungs.

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Authors and Affiliations

  1. Department of Medical Imaging, University of Toronto, Toronto, ON, Canada

    Xishi Huang

  2. Faculty of Engineering and Applied Science, Univ. of Ontario Institute of Technology, 2000 Simcoe Street North, Oshawa, ON, L1H 7K4, Canada

    Anwar Abdalbari & Jing Ren

Authors
  1. Xishi Huang
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  2. Anwar Abdalbari
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  3. Jing Ren
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Correspondence to Jing Ren.

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Huang, X., Abdalbari, A. & Ren, J. 3D surface reconstruction of stereo endoscopic images for minimally invasive surgery. Biomed. Eng. Lett. 3, 149–157 (2013). https://doi.org/10.1007/s13534-013-0098-7

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  • DOI: https://doi.org/10.1007/s13534-013-0098-7

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