Dynamic view expansion for minimally invasive surgery using simultaneous localization and mapping.
Navigation during Minimally Invasive Surgery (MIS) has recognized difficulties due to limited field-of-view, off-axis visualization and loss of direct 3D vision. This can cause visual-spatial disorientation when exploring complex in vivo structures. In this paper, we present an approach to dynamic view expansion which builds a 3D textured model of the MIS environment to facilitate in vivo navigation. With the proposed technique, no prior knowledge of the environment is required and the model is built sequentially while the laparoscope is moved. The method is validated on simulated data with known ground truth. Its potential clinical value is also demonstrated with in vivo experiments.
Mountney
Peter
P
Department of Computing and Institute of Biomedical Engineering, Imperial College London. South Kensington Campus, London SW7 2AZ, UK. peter.mountney@imperial.ac.uk
Yang
Guang-Zhong
GZ
D001698:Biomedical Engineering; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000379:methods*; D020706:Laparoscopes; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation / Q000379:methods*; D015233:Models, Statistical; D016012:Poisson Distribution; D025321:Surgery, Computer-Assisted / Q000295:instrumentation / Q000379:methods*