Demonstration of a laparoscopic structured-illumination three-dimensional imaging system for guiding reconstructive bowel anastomosis (original) (raw)
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Surface reconstruction of abdominal organs using laparoscopic structured light for augmented reality
2002
Creation of accurate surface models of abdominal organs is essential for many developing technologies in medicine and surgery. One application we are working towards is augmented reality (AR) visualization for laparoscopic surgery. Our current system meets some, but not all, of the requirements. We use two custom built laparoscopes, a custom built miniature projector, a standard camera, and a standard video capture and processing card to implement a laparoscopic structured light range acquisition system. We will briefly show the custom hardware but will emphasize the structured light depth extraction techniques used for the unique properties of surfaces inside the body, particularly dealing with specular reflections. In early experiments, we studied the effectiveness of our algorithm in highly specular environments by creating range images acquired from fresh animal organs. These experiments used a large projector, open abdomens, and offline image processing. We report the results o...
Surface reconstruction of abdominal organs using laparoscopic structured light for augmented reality
Three-Dimensional Image Capture and Applications V, 2002
Creation of accurate surface models of abdominal organs is essential for many developing technologies in medicine and surgery. One application we are working towards is augmented reality (AR) visualization for laparoscopic surgery. Our current system meets some, but not all, of the requirements. We use two custom built laparoscopes, a custom built miniature projector, a standard camera, and a standard video capture and processing card to implement a laparoscopic structured light range acquisition system. We will briefly show the custom hardware but will emphasize the structured light depth extraction techniques used for the unique properties of surfaces inside the body, particularly dealing with specular reflections. In early experiments, we studied the effectiveness of our algorithm in highly specular environments by creating range images acquired from fresh animal organs. These experiments used a large projector, open abdomens, and offline image processing. We report the results of experiments using our miniature projector, and on line processing.
Challenging requirements and optical depth estimation techniques in laparoscopy
Current Directions in Biomedical Engineering, 2022
Minimally invasive surgery has many advantages and cannot be missed nowadays. It leads to faster recovery and less surgical trauma. In laparoscopic surgery years of training are required to optimize patient outcomes. To visually support the surgeon during stomach surgery a 3D-reconstruction of the whole organ shall be created prior and during the procedure. Results might be beneficial for various applications such as before-and-after documentation, navigation support and autonomous robotic surgery. The technical implementation of 3D-reconstruction requires depth estimation which is challenged due to the environmental conditions and surgical constraints that exist in the human body during minimally invasive surgery. This paper focuses on the requirements of 3D-reconstruction in laparoscopy, reveals current research challenges and proposes an evaluation framework for optical depth estimation techniques. Eight methods were included in the evaluation. Scores considering the requirements were established and assigned to each method. The methods Deformable Shape-from-Motion, Stereoscopy, Shape-from-Motion, Simultaneous Localization and Mapping, Structured Light and Light-Field Technology were shown to partially fulfill the requirements for laparoscopic 3D-reconstruction. Shape-from-Shading and Time-of-Flight need extensive modifications to be applicable. In conclusion it can be stated that currently no method exists to realize a real time highresolution 3D-reconstruction of inner organs during laparoscopy.
Surgical Structured Light for 3D Minimally Invasive Surgical Imaging
Surgeons perform minimally invasive surgery using an image delivered by a laparoscope and a camera system that provides a high definition 2D image, but this leaves the surgeon without 3D depth perception. The lack of depth perception can slow the surgeon, increase the risk of misidentifying structures, and/or inadvertently cause unwanted injury to tissues surrounding the surgical site. To address the lack of depth perception, we propose a Surgical Structured Light (SSL) system that includes a 3D sensor capable of measuring and modeling the surgical site during a procedure. The 3D information provided by this system can enable the surgeon to: 1) improve the navigation of tools based on precise localization of instruments in relation to structures in the surgical site, 2) allow 3D visualizations side-by-side with a standard 2D color image, and 3) precisely measure sizes of structures (e.g., tumors) and distances between structures with simple mouse clicks. We demonstrate the accuracy of our SSL system using ex-vivo data on both a cylinder calibration object as well as various plastic organs.
Three-dimensional image reconstruction in capsule endoscopy
World Journal of Gastroenterology, 2012
To date, limited research has been carried out in developing methods and materials that offer three-dimensional (3-D) representation of the digestive tract. In the field of capsule endoscopy (CE), hardware approaches have been developed that provide real time both 3-D information and texture using an infrared projector and a complementary metal oxide semiconductor camera. The major drawbacks of this system are its size, power consumption and packaging issues. A software approach to approximate a 3-D representation of digestive tract surface utilising current CE technology has been proposed. The algorithm utilizes the Shape from Shading technique and seem to provide promising results for polypoid structures and angioectasias. Further clinical evaluation is currently under way.
Multispectral tissue characterization for intestinal anastomosis optimization
Journal of biomedical optics, 2015
Intestinal anastomosis is a surgical procedure that restores bowel continuity after surgical resection to treat intestinal malignancy, inflammation, or obstruction. Despite the routine nature of intestinal anastomosis procedures, the rate of complications is high. Standard visual inspection cannot distinguish the tissue subsurface and small changes in spectral characteristics of the tissue, so existing tissue anastomosis techniques that rely on human vision to guide suturing could lead to problems such as bleeding and leakage from suturing sites. We present a proof-of-concept study using a portable multispectral imaging (MSI) platform for tissue characterization and preoperative surgical planning in intestinal anastomosis. The platform is composed of a fiber ring light-guided MSI system coupled with polarizers and image analysis software. The system is tested on ex vivo porcine intestine tissue, and we demonstrate the feasibility of identifying optimal regions for suture placement.
Lighting Enhancement Aids Reconstruction of Colonoscopic Surfaces
Lecture Notes in Computer Science
High screening coverage during colonoscopy is crucial to effectively prevent colon cancer. Previous work has allowed alerting the doctor to unsurveyed regions by reconstructing the 3D colonoscopic surface from colonoscopy videos in real-time. However, the lighting inconsistency of colonoscopy videos can cause a key component of the colonoscopic reconstruction system, the SLAM optimization, to fail. In this work we focus on the lighting problem in colonoscopy videos. To successfully improve the lighting consistency of colonoscopy videos, we have found necessary a lighting correction that adapts to the intensity distribution of recent video frames. To achieve this in real-time, we have designed and trained an RNN network. This network adapts the gamma value in a gamma-correction process. Applied in the colonoscopic surface reconstruction system, our lightweight model significantly boosts the reconstruction success rate, making a larger proportion of colonoscopy video segments reconstructable and improving the reconstruction quality of the already reconstructed segments.
Reconstruction and visualization of 3D models of colonic surface
IEEE Transactions on Nuclear Science, 1997
This paper presents an innovative technology called 30 virtual colonoscopy, which incorporates several advanced visualization techniques to enable the physician to virtually examine the inner surface of the entire colon for identifying and inspecting colonic polyps. We first describe our unique process of acquiring and reconstructing a patient's colon model, followed by the novel visualization algorithms that we have developed to provide automatic planned navigations as well as interactive guided navigations inside the colon. Finally, we present our experimental results on a simulated pipe phantom, the Visible Human data set, and patient data.
Proceedings of SPIE - The International Society for Optical Engineering
Gathering depth information through an endoscope or laparoscope during surgical or other procedures is quite difficult. There are stereo laparoscopes but generating three-dimensional models with them is very difficult. Accurate real-time generation of three-dimensional models through a laparoscope is a needed technology to enable a wide range of surgical applications. We have designed a miniature laparoscopic optical system consisting of a single laser whose pattern is modulated and uses the laparoscope as the optical display path into the body. Two cameras, one sensitive to the laser light and the other for full color imaging share this same tube as the laser projector but use the light from the opposite direction. The images gathered by the laser sensitive camera are used to generate a three dimensional map, and the color image is used to acquire the corresponding texture map. High-speed image processing hardware is used to generate 3D information using a structured light techniqu...
Automated visibility map of the internal colon surface from colonoscopy video
International Journal of Computer Assisted Radiology and Surgery, 2016
Purpose Optical colonoscopy is a prominent procedure by which clinicians examine the surface of the colon for cancerous polyps using a flexible colonoscope. One of the main concerns regarding the quality of the colonoscopy is to ensure that the whole colonic surface has been inspected for abnormalities. In this paper, we aim at estimating areas that have not been covered thoroughly by providing a map from the internal colon surface. Methods Camera parameters were estimated using optical flow between consecutive colonoscopy frames. A cylinder model was fitted to the colon structure using 3D pseudo stereo vision and projected into each frame. A circumferential band from the cylinder was extracted to unroll the internal colon surface (band image). By registering these band images, drift in estimating camera motion could be reduced, and a visibility map of the colon surface could be generated, revealing uncovered areas by the colonoscope. Hidden areas behind haustral folds were ignored in this study. The method was validated on simulated and actual colonoscopy videos. The realistic simulated videos were generated using a colonoscopy simulator with known ground truth, and the