Comparative study on surface reconstruction accuracy of stereo imaging devices for microsurgery
Comparative study on surface reconstruction accuracy of stereo imaging devices for microsurgery
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DOI：
10.1007/s11548-015-1240-z
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发表时间：
2016-01-01
影响因子：
3
通讯作者：
Ortmaier, Tobias
中科院分区：
文献类型：
--
作者：
Schoob, Andreas;Kundrat, Dennis;Ortmaier, Tobias
处理立体图像数据是一个新兴领域。特别是在需要亚毫米精度的显微外科手术中，基于立体的方法在内窥镜和显微镜场景中的应用是主要的兴趣。在此基础上，对几种摄像机条件下的立体曲面重建方法进行了直接比较，提出了一种立体匹配方法，并在体外数据上进行了验证。展示适用于手术场景，这种方法适用于两个定制的立体摄像机，一个小型化，可弯曲的手术内窥镜和手术显微镜。重建精度评估定制的参考样品。在其制造之后，使用坐标测量臂来获取地面实况。接下来，由机器人将样品定位在与每个相机不同的距离处。进行表面估计，同时基于标记物定位样本。最后，计算估计的表面和地面真实值之间的误差。使用坐标测量臂进行样本测量可产生可靠的地面真实值数据，均方根误差为。分析相机的整体表面重建量化的均方根误差小于0.18毫米。显微镜设置具有最高的放大倍率产生最准确的测量，而最大偏差不超过0.5毫米。定制的立体相机执行类似的，但增加幅度的离群值。微型可弯曲手术内窥镜产生的最大误差约为。重建结果表明，显微成像优于研究的尖端芯片解决方案，即，在更高的放大倍数下。尽管如此，定制的相机适用于显微外科手术。尽管使用微型内窥镜进行重建更不准确，但它在准确性、外部尺寸和难以到达的手术部位的可达性之间提供了良好的权衡。
Processing stereoscopic image data is an emerging field. Especially in microsurgery that requires sub-millimeter accuracy, application of stereo-based methods on endoscopic and microscopic scenarios is of major interest. In this context, direct comparison of stereo-based surface reconstruction applied to several camera settings is presented.A method for stereo matching is proposed and validated on in-vitro data. Demonstrating suitability for surgical scenarios, this method is applied to two custom-made stereo cameras, a miniaturized, bendable surgical endoscope and an operating microscope. Reconstruction accuracy is assessed on a custom-made reference sample. Subsequent to its fabrication, a coordinate measuring arm is used to acquire ground truth. Next, the sample is positioned by a robot at varying distances to each camera. Surface estimation is performed, while the specimen is localized based on. markers. Finally, the error between estimated surface and ground truth is computed.Sample measurement with the coordinate measuring arm yields reliable ground truth data with a root-mean-square error of . Overall surface reconstruction with analyzed cameras is quantified by a root-mean-square error of less than 0.18 mm. Microscope setting with the highest magnification yields the most accurate measurement, while the maximum deviation does not exceed 0.5 mm. Custom-made stereo cameras perform similar but with outliers of increased magnitude. Miniaturized, bendable surgical endoscope produces the maximum error of approximately .Reconstruction results reveal that microscopic imaging outperforms investigated chip-on-the-tip solutions, i.e., at higher magnification. Nonetheless, custom-made cameras are suitable for application in microsurgery. Although reconstruction with the miniaturized endoscope is more inaccurate, it provides a good trade-off between accuracy, outer dimensions and accessibility to hard-to-reach surgical sites.