Real-Time Expanded Field-of-View for Minimally Invasive Surgery Using Multi-Camera Visual Simultaneous Localization and Mapping.
Real-Time Expanded Field-of-View for Minimally Invasive Surgery Using Multi-Camera Visual Simultaneous Localization and Mapping.
复制标题
DOI：
10.3390/s21062106
复制
发表时间：
2021-03-17
期刊：
影响因子：
--
通讯作者：
Nakaguchi T
中科院分区：
文献类型：
--
作者：
Afifi A;Takada C;Yoshimura Y;Nakaguchi T
微创手术因其对患者的巨大益处而被广泛使用。然而，外科医生在这种类型的手术中面临一些挑战，其中最重要的是视野狭窄。因此，我们提出一种方法来扩大视野的微创手术，以提高外科医生的经验。它实时组合多个视图以生成动态扩展视图。所提出的方法扩展了单目定向功能从加速段测试和旋转二进制鲁棒独立的基本功能，同时定位和映射（ORB-SLAM）的工作与多摄像机设置。ORB-SLAM的三个并行线程，即跟踪，映射和循环关闭，执行每个摄像机和新的线程被添加到计算相对摄像机的姿态和构造扩展视图。提出了一种从一组对应的3D地图点估计最佳相机间对应矩阵的新算法。然后使用该最佳变换来产生最终视图。所提出的方法进行了评估，使用人体模型和体内数据。所提出的对应矩阵估计算法的评估结果证明了它的能力，以减少错误，并产生一个准确的转换。结果还表明，当其他方法失败时，所提出的方法可以产生扩展的视图。在这项工作中，一个实时的动态视场扩展方法，可以在任何情况下，无论图像的重叠提出。它优于以前的方法，也可以在21 fps的工作。
Minimally invasive surgery is widely used because of its tremendous benefits to the patient. However, there are some challenges that surgeons face in this type of surgery, the most important of which is the narrow field of view. Therefore, we propose an approach to expand the field of view for minimally invasive surgery to enhance surgeons’ experience. It combines multiple views in real-time to produce a dynamic expanded view. The proposed approach extends the monocular Oriented features from an accelerated segment test and Rotated Binary robust independent elementary features—Simultaneous Localization And Mapping (ORB-SLAM) to work with a multi-camera setup. The ORB-SLAM’s three parallel threads, namely tracking, mapping and loop closing, are performed for each camera and new threads are added to calculate the relative cameras’ pose and to construct the expanded view. A new algorithm for estimating the optimal inter-camera correspondence matrix from a set of corresponding 3D map points is presented. This optimal transformation is then used to produce the final view. The proposed approach was evaluated using both human models and in vivo data. The evaluation results of the proposed correspondence matrix estimation algorithm prove its ability to reduce the error and to produce an accurate transformation. The results also show that when other approaches fail, the proposed approach can produce an expanded view. In this work, a real-time dynamic field-of-view expansion approach that can work in all situations regardless of images’ overlap is proposed. It outperforms the previous approaches and can also work at 21 fps.
登录
查看更多内容
影响因子：
2.3
作者：
Jang, Jae Yool;Han, Ho-Seong;Choi, YoungRok
通讯作者：
Choi, YoungRok
影响因子：
10.6
作者：
Mahmoud, Nader;Collins, Toby;Martinez Montiel, Jose Maria
通讯作者：
Martinez Montiel, Jose Maria
DOI：
10.1007/s11548-011-0631-z
发表时间：
2012-05-01
影响因子：
3
作者：
Totz, Johannes;Fujii, Kenko;Yang, Guang-Zhong
通讯作者：
Yang, Guang-Zhong
影响因子：
7.8
作者：
Mur-Artal, Raul;Montiel, J. M. M.;Tardos, Juan D.
通讯作者：
Tardos, Juan D.
DOI：
10.1007/s11548-014-1064-2
发表时间：
2015-02-01
影响因子：
3
作者：
Tamadazte, Brahim;Agustinos, Anthony;Voros, Sandrine
通讯作者：
Voros, Sandrine