Share Email Print

Journal of Medical Imaging • Open Access

Intraoperative on-the-fly organ-mosaicking for laparoscopic surgery
Author(s): Daniel Reichard; Sebastian Bodenstedt; Stefan Suwelack; Benjamin Mayer; Anas Preukschas; Martin Wagner; Hannes Kenngott; Beat Müller-Stich; Rüdiger Dillmann; Stefanie Speidel

Paper 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 <italic<in silico</italic<, phantom, <italic<ex vivo</italic<, and <italic<in vivo</italic< (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.

Paper Details

Date Published: 10 December 2015
PDF: 9 pages
J. Med. Img. 2(4) 045001 doi: 10.1117/1.JMI.2.4.045001
Published in: Journal of Medical Imaging Volume 2, Issue 4
Show Author Affiliations
Daniel Reichard, Karlsruher Institut für Technologie (Germany)
Sebastian Bodenstedt, Karlsruher Institut für Technologie (Germany)
Stefan Suwelack, Karlsruher Institut für Technologie (Germany)
Benjamin Mayer, Ruprecht-Karls-Univ. Heidelberg (Germany)
Anas Preukschas, Ruprecht-Karls-Univ. Heidelberg (Germany)
Martin Wagner, UniversitätsKlinikum Heidelberg (Germany)
Ruprecht-Karls-Univ. Heidelberg (Germany)
Hannes Kenngott, UniversitätsKlinikum Heidelberg (Germany)
Ruprecht-Karls-Univ. Heidelberg (Germany)
Beat Müller-Stich, Ruprecht-Karls-Univ. Heidelberg (Germany)
Rüdiger Dillmann, Karlsruher Institut für Technologie (Germany)
Stefanie Speidel, Karlsruher Institut für Technologie (Germany)

© SPIE. Terms of Use
Back to Top