GPU-Accelerated Robotic Intra-operative Laparoscopic 3D Reconstruction

  • Markus Moll
  • Hsiao-Wei Tang
  • Luc Van Gool
Part of the Lecture Notes in Computer Science book series (LNCS, volume 6135)


In this paper we present a real-time intra-operative reconstruction system for laparoscopic surgery. The system builds upon a surgical robot for laparoscopy that has previously been developed by us. Such a system is valuable for surgeons, who can get a three dimensional visualization of the scene online, without having to postprocess data. We gain a significant speed increase over existing such systems by carefully parallelizing tasks and using the GPU for computationally expensive sub-tasks, making real-time reconstruction and visualization possible. Our implementation is also robust with respect to outliers and can potentially be extended to be used with non-robotic surgery. We demonstrate the performance of our system on ex-vivo samples and compare it to alternative implementations.


Minimally Invasive Surgery Iterative Close Point Bundle Adjustment Drift Correction Surf Feature 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2010

Authors and Affiliations

  • Markus Moll
    • 1
  • Hsiao-Wei Tang
    • 2
  • Luc Van Gool
    • 1
    • 3
  1. 1.ESAT-PSI/IBBT, Department of Electrical EngineeringKatholieke Universiteit LeuvenHeverleeBelgium
  2. 2.Department of Mechanical EngineeringKatholieke Universiteit Leuven, PMAHeverleeBelgium
  3. 3.D-ITET/Computer Vision LaboratorySwiss Federal Institute of Technology (ETH)ZürichSwitzerland

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