title: 3-D operation situs reconstruction with time-of-flight satellite cameras using photogeometric data fusion.
abstract: Minimally invasive procedures are of growing importance in modern surgery. Navigation and orientation are major issues during these interventions as conventional endoscopes only cover a limited field of view. We propose the application of a Time-of-Flight (ToF) satellite camera at the zenith of the pneumoperitoneum to survey the operation situs. Due to its limited field of view we propose a fusion of different 3-D views to reconstruct the situs using photometric and geometric information provided by the ToF sensor. We were able to reconstruct the entire abdomen with a mean absolute mesh-to-mesh error of less than 5 mm compared to CT ground truth data, at a frame rate of 3 Hz. The framework was evaluated on real data from a miniature ToF camera in an open surgery pig study and for quantitative evaluation with a realistic human phantom. With the proposed approach to operation situs reconstruction we improve the surgeons' orientation and navigation and therefore increase safety and speed up surgical interventions.
authors: Pattern Recognition Lab, Friedrich-Alexander-Universitiit Erlangen-Niirnberg. sven.haase@fau.de
authors: Sven
authors: S
authors: Haase
authors: Pattern Recognition Lab, Friedrich-Alexander-Universitiit Erlangen-Niirnberg.
authors: Sebastian
authors: S
authors: Bauer
authors: Pattern Recognition Lab, Friedrich-Alexander-Universitiit Erlangen-Niirnberg.
authors: Jakob
authors: J
authors: Wasza
authors: Div. Medical and Biological Informatics Junior Group: Computer-assisted, Interventions, German Cancer Research Center (DKFZ) Heidelberg.
authors: Thomas
authors: T
authors: Kilgus
authors: Div. Medical and Biological Informatics Junior Group: Computer-assisted, Interventions, German Cancer Research Center (DKFZ) Heidelberg.
authors: Lena
authors: L
authors: Maier-Hein
authors: Minimally Invasive Therapy and Intervention, Technical University of Munich.
authors: Armin
authors: A
authors: Schneider
authors: Minimally Invasive Therapy and Intervention, Technical University of Munich.
authors: Michael
authors: M
authors: Kranzfelder
authors: Minimally Invasive Therapy and Intervention, Technical University of Munich.
authors: Hubertus
authors: H
authors: Feubner
authors: Pattern Recognition Lab, Friedrich-Alexander-Universitiit Erlangen-Niirnberg.
authors: Joachim
authors: J
authors: Hornegger
mesh_terms: D000465:Algorithms; D000818:Animals; D004724:Endoscopy / Q000379:methods*; D006801:Humans; D007089:Image Enhancement / Q000379:methods; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods*; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000379:methods*; D013552:Swine; D014057:Tomography, X-Ray Computed / Q000379:methods*