title: Three-dimensional modeling from endoscopic video using geometric constraints via feature positioning.
abstract: The endoscope is a popular imaging modality used in many preevaluations and surgical treatments, and is also one of the essential tools in minimally invasive surgery. However, regular endoscopes provide only 2-D images. Even though stereoendoscopy systems can display 3-D images, the real anatomical structure of the observed lesion is unavailable and can only be judged by the surgeon's imagination. In this paper, we present a constraint-based factorization method for reconstructing 3-D structures registered to the patient, from 2-D endoscopic images. The proposed method incorporates the geometric constraints from the tracked surgical instrument into the traditional factorization method based on frame-to-frame feature motion on the endoscopically viewed scene. Experiments with real and synthetic data demonstrate good real-scale 3-D extraction, with greater accuracy than is available from traditional methods. The reconstruction process can also be accomplished in a few seconds, making it suitable for on-line surgical applications to provide surgeons with additional 3-D shape information, critical distance monitoring and warnings.
authors.affiliation: Visual System Laboratory, Department of Computer Science and Information Engineering, National Cheng Kung University, Tainan, 701 Taiwan, ROC.
authors.forename: Chia-Hsiang
authors.initials: CH
authors.lastname: Wu
authors.forename: Yung-Nien
authors.initials: YN
authors.lastname: Sun
authors.forename: Chien-Chen
authors.initials: CC
authors.lastname: Chang
mesh_terms: D000465:Algorithms; D053704:Capsule Endoscopy / Q000379:methods*; D003198:Computer Simulation; D006801:Humans; D007089:Image Enhancement / Q000379:methods*; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008954:Models, Biological; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014741:Video Recording / Q000379:methods*