Abstract
Tissue deformation is one of the major difficulties in the registration of pre-operative and intra-operative data. Vision based techniques have shown the potential to simultaneously track the endoscope and recover a sparse 3D structure of the tissue. However, most of such methods either assume a static environment or require the tissue organ to have a periodic motion such as respiration. To deal with the general tissue deformation, a new framework is proposed in this paper with the ability of simultaneous stereoscope tracking, 3D reconstruction and deforming point detection in the Minimally Invasive Surgery (MIS) environment. First, we adopt a Parallel Tracking and Mapping (PTAM) framework and extend it for the use of stereoscope in MIS. Second, this newly extended framework enables the detection of deforming points without restricted periodic motion model assumptions. Our proposed method has been evaluated on a phantom model, and in vivo experiments demonstrate its capability for accurate tracking in nearly real time speed as well as 3D reconstruction with hundreds of 3D points. Those experiments have shown that our method is robust towards tissue deformation and hence have promising potential for information integration by registration with pre-operative data.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Similar content being viewed by others
References
Stoyanov, D., Scarzanella, M.V., Pratt, P., Yang, G.-Z.: Real-time stereo reconstruction in robotically assisted minimally invasive surgery. In: Jiang, T., Navab, N., Pluim, J.P.W., Viergever, M.A. (eds.) MICCAI 2010, Part I. LNCS, vol. 6361, pp. 275–282. Springer, Heidelberg (2010)
Lin, B., Sun, Y., Qian, X.: Dense surface reconstruction with shadows in mis. IEEE Transactions on Biomedical Engineering (2013)
Lin, B., Sun, Y., Qian, X.: Thin plate spline feature point matching for organ surfaces in minimally invasive surgery imaging. In: SPIE Medical Imaging (2013)
Totz, J., Mountney, P., Stoyanov, D., Yang, G.-Z.: Dense surface reconstruction for enhanced navigation in MIS. In: Fichtinger, G., Martel, A., Peters, T. (eds.) MICCAI 2011, Part I. LNCS, vol. 6891, pp. 89–96. Springer, Heidelberg (2011)
Burschka, D., Li, M., Ishii, M., Taylor, R.H., Hager, G.D.: Scale-invariant registration of monocular endoscopic images to ct-scans for sinus surgery. Medical Image Analysis 9, 413–426 (2005)
Mirota, D., Wang, H., Taylor, R.H., Ishii, M., Gallia, G.L., Hager, G.D.: A system for video-based navigation for endoscopic endonasal skull base surgery. IEEE Trans. Med. Imaging 31(4), 963–976 (2012)
Mountney, P., Stoyanov, D., Davison, A.J., Yang, G.-Z.: Simultaneous stereoscope localization and soft-tissue mapping for minimal invasive surgery. In: Larsen, R., Nielsen, M., Sporring, J. (eds.) MICCAI 2006, Part I. LNCS, vol. 4190, pp. 347–354. Springer, Heidelberg (2006)
Davison, A.J.: Real-time simultaneous localisation and mapping with a single camera. In: ICCV, pp. 1403–1410 (2003)
Mountney, P., Yang, G.-Z.: Motion compensated SLAM for image guided surgery. In: Jiang, T., Navab, N., Pluim, J.P.W., Viergever, M.A. (eds.) MICCAI 2010, Part II. LNCS, vol. 6362, pp. 496–504. Springer, Heidelberg (2010)
Giannarou, S., Yang, G.-Z.: Tissue deformation recovery with gaussian mixture model based structure from motion. In: Linte, C.A., Moore, J.T., Chen, E.C.S., Holmes III, D.R. (eds.) AE-CAI 2011. LNCS, vol. 7264, pp. 47–57. Springer, Heidelberg (2012)
Klein, G., Murray, D.W.: Parallel tracking and mapping for small ar workspaces. In: ISMAR, pp. 225–234 (2007)
Hartley, R.I., Zisserman, A.: Multiple View Geometry in Computer Vision, 2nd edn. Cambridge University Press (2004) ISBN: 0521540518
Horn, B.K.P.: Closed-form solution of absolute orientation using unit quaternions. Journal of the Optical Society of America 4, 629–642 (1987)
Lladó, X., Bue, A.D., Oliver, A., Salvi, J., de Agapito, L.: Reconstruction of non-rigid 3d shapes from stereo-motion. Pattern Recognition Letters 32(7), 1020–1028 (2011)
Blanco, J.L.: A tutorial on se(3) transformation parameterizations and on-manifold optimization. Technical report, University of Malaga (September 2010)
Sun, Y., Anderson, A., Castro, C., Lin, B., Gitlin, R., Ross, S., Rosemurgy, A.: Virtually transparent epidermal imagery for laparo-endoscopic single-site surgery. In: EMBC, pp. 2107–2110 (2011)
Castro, C.A., Alqassis, A., Smith, S., Ketterl, T., Sun, Y., Ross, S., Rosemurgy, A., Savage, P.P., Gitlin, R.D.: A wireless robot for networked laparoscopy. IEEE Transactions on Biomedical Engineering 60(4), 930–936 (2013)
Giannarou, S., Stoyanov, D., Noonan, D., Mylonas, G., Clark, J., Visentini-Scarzanella, M., Mountney, P., Yang, G.-Z.: Hamlyn centre laparoscopic / endoscopic video datasets, http://hamlyn.doc.ic.ac.uk/vision/
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2013 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Lin, B., Johnson, A., Qian, X., Sanchez, J., Sun, Y. (2013). Simultaneous Tracking, 3D Reconstruction and Deforming Point Detection for Stereoscope Guided Surgery. In: Liao, H., Linte, C.A., Masamune, K., Peters, T.M., Zheng, G. (eds) Augmented Reality Environments for Medical Imaging and Computer-Assisted Interventions. MIAR AE-CAI 2013 2013. Lecture Notes in Computer Science, vol 8090. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40843-4_5
Download citation
DOI: https://doi.org/10.1007/978-3-642-40843-4_5
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-40842-7
Online ISBN: 978-3-642-40843-4
eBook Packages: Computer ScienceComputer Science (R0)