Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction
Comparative Validation of Single-Shot Optical Techniques for Laparoscopic 3-D Surface Reconstruction
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DOI：
10.1109/tmi.2014.2325607
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发表时间：
2014-10-01
影响因子：
10.6
通讯作者：
Stoyanov, D.
中科院分区：
文献类型：
--
作者：
Maier-Hein, L.;Groch, A.;Stoyanov, D.
用于获得体内软组织表面的形状和形态的术中成像技术是先进手术系统的关键使能技术。已经提出了不同的光学技术在腹腔镜手术中的3-D表面重建，但是，到目前为止，没有进行定量和比较验证。此外，尚未评估该方法对吸烟或出血等临床重要因素的稳健性。为了解决这些问题，我们已经形成了一个国际联合倡议，目的是以比较的方式验证不同的最先进的被动和主动重建方法。在这项全面的体外研究中，我们研究了使用具有各种形状和纹理的不同器官的重建准确性，并测试了重建鲁棒性与许多因素，如内窥镜的姿势以及场景中存在的血液或烟雾量。该研究表明，不同的技术在精度，鲁棒性，点密度，硬件复杂性和计算时间方面的互补优势。虽然在理想条件下的重建精度通常很高，但鲁棒性仍然是有待解决的问题。未来的工作应包括传感器融合和特定临床背景下的体内验证研究。为了引发对表面重建的进一步研究，该研究的立体数据将在论文发表后在www.open-CAS.com上免费提供。
Intra-operative imaging techniques for obtaining the shape and morphology of soft-tissue surfaces in vivo are a key enabling technology for advanced surgical systems. Different optical techniques for 3-D surface reconstruction in laparoscopy have been proposed, however, so far no quantitative and comparative validation has been performed. Furthermore, robustness of the methods to clinically important factors like smoke or bleeding has not yet been assessed. To address these issues, we have formed a joint international initiative with the aim of validating different state-of-the-art passive and active reconstruction methods in a comparative manner. In this comprehensive in vitro study, we investigated reconstruction accuracy using different organs with various shape and texture and also tested reconstruction robustness with respect to a number of factors like the pose of the endoscope as well as the amount of blood or smoke present in the scene. The study suggests complementary advantages of the different techniques with respect to accuracy, robustness, point density, hardware complexity and computation time. While reconstruction accuracy under ideal conditions was generally high, robustness is a remaining issue to be addressed. Future work should include sensor fusion and in vivo validation studies in a specific clinical context. To trigger further research in surface reconstruction, stereoscopic data of the study will be made publically available at www.open-CAS.com upon publication of the paper.