i-BRUSH: a gaze-contingent virtual paintbrush for dense 3D reconstruction in robotic assisted surgery.
With increasing demand on intra-operative navigation and motion compensation during robotic assisted minimally invasive surgery, real-time 3D deformation recovery remains a central problem. Currently the majority of existing methods rely on salient features, where the inherent paucity of distinctive landmarks implies either a semi-dense reconstruction or the use of strong geometrical constraints. In this study, we propose a gaze-contingent depth reconstruction scheme by integrating human perception with semi-dense stereo and p-q based shading information. Depth inference is carried out in real-time through a novel application of Bayesian chains without smoothness priors. The practical value of the scheme is highlighted by detailed validation using a beating heart phantom model with known geometry to verify the performance of gaze-contingent 3D surface reconstruction and deformation recovery.
Visentini-Scarzanella
Marco
M
Royal Society/Wolfson Foundation MIC Laboratory, Imperial College London, London SW7 2AZ, United Kingdom. marco.visentini-scarzanella02@imperial.ac.uk
Mylonas
George P
GP
Stoyanov
Danail
D
Yang
Guang-Zhong
GZ
D000465:Algorithms; D013504:Cardiovascular Surgical Procedures / Q000379:methods*; D003196:Computer Graphics; D003198:Computer Simulation; D006801:Humans; D007089:Image Enhancement / Q000379:methods; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods*; D008953:Models, Anatomic; D008955:Models, Cardiovascular; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D012371:Robotics / Q000379:methods*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014057:Tomography, X-Ray Computed / Q000379:methods*; D014584:User-Computer Interface