title: Intraoperative on-the-fly organ-mosaicking for laparoscopic surgery.
abstract: The goal of computer-assisted surgery is to provide the surgeon with guidance during an intervention, e.g., using augmented reality. To display preoperative data, soft tissue deformations that occur during surgery have to be taken into consideration. Laparoscopic sensors, such as stereo endoscopes, can be used to create a three-dimensional reconstruction of stereo frames for registration. Due to the small field of view and the homogeneous structure of tissue, reconstructing just one frame, in general, will not provide enough detail to register preoperative data, since every frame only contains a part of an organ surface. A correct assignment to the preoperative model is possible only if the patch geometry can be unambiguously matched to a part of the preoperative surface. We propose and evaluate a system that combines multiple smaller reconstructions from different viewpoints to segment and reconstruct a large model of an organ. Using graphics processing unit-based methods, we achieved four frames per second. We evaluated the system with in silico, phantom, ex vivo, and in vivo (porcine) data, using different methods for estimating the camera pose (optical tracking, iterative closest point, and a combination). The results indicate that the proposed method is promising for on-the-fly organ reconstruction and registration.
authors.affiliation: Karlsruhe Institute of Technology , Institute for Anthropomatics and Robotics, Adenauerring 2, D-76131 Karlsruhe, Germany.
authors.forename: Daniel
authors.initials: D
authors.lastname: Reichard
authors.affiliation: Karlsruhe Institute of Technology , Institute for Anthropomatics and Robotics, Adenauerring 2, D-76131 Karlsruhe, Germany.
authors.forename: Sebastian
authors.initials: S
authors.lastname: Bodenstedt
authors.affiliation: Karlsruhe Institute of Technology , Institute for Anthropomatics and Robotics, Adenauerring 2, D-76131 Karlsruhe, Germany.
authors.forename: Stefan
authors.initials: S
authors.lastname: Suwelack
authors.affiliation: University of Heidelberg , Department of General, Abdominal and Transplantation Surgery, Im Neuenheimer Feld 110, D-69120 Heidelberg, Germany.
authors.forename: Benjamin
authors.initials: B
authors.lastname: Mayer
authors.affiliation: University of Heidelberg , Department of General, Abdominal and Transplantation Surgery, Im Neuenheimer Feld 110, D-69120 Heidelberg, Germany.
authors.forename: Anas
authors.initials: A
authors.lastname: Preukschas
authors.affiliation: University of Heidelberg , Department of General, Abdominal and Transplantation Surgery, Im Neuenheimer Feld 110, D-69120 Heidelberg, Germany.
authors.forename: Martin
authors.initials: M
authors.lastname: Wagner
authors.affiliation: University of Heidelberg , Department of General, Abdominal and Transplantation Surgery, Im Neuenheimer Feld 110, D-69120 Heidelberg, Germany.
authors.forename: Hannes
authors.initials: H
authors.lastname: Kenngott
authors.affiliation: University of Heidelberg , Department of General, Abdominal and Transplantation Surgery, Im Neuenheimer Feld 110, D-69120 Heidelberg, Germany.
authors.forename: Beat
authors.initials: B
authors.lastname: Müller-Stich
authors.affiliation: Karlsruhe Institute of Technology , Institute for Anthropomatics and Robotics, Adenauerring 2, D-76131 Karlsruhe, Germany.
authors.forename: Rüdiger
authors.initials: R
authors.lastname: Dillmann
authors.affiliation: Karlsruhe Institute of Technology , Institute for Anthropomatics and Robotics, Adenauerring 2, D-76131 Karlsruhe, Germany.
authors.forename: Stefanie
authors.initials: S
authors.lastname: Speidel
keywords: endoscopic image processing; quantitative endoscopy; simultaneous localization and mapping; stitching; surgical vision; visualization