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Real-time surface reconstruction from stereo endoscopic images for intraoperative registration

Roehl, S.; Bodenstedt, S.; Suwelack, S.; Kenngott, H.; Mueller-Stich, B.; Dillmanna R.; Speidel, S

Minimally invasive surgery is a medically complex discipline that can heavily benefit from computer assistance. One way to assist the surgeon is to blend in useful information about the intervention into the surgical view using Augmented Reality. This information can be obtained during preoperative planning and integrated into a patient-tailored model of the intervention. Due to soft tissue deformation, intraoperative sensor data such as endoscopic images has to be acquired and non-rigidly registered with the preoperative model to adapt it to local changes. Here, we focus on a procedure that reconstructs the organ surface from stereo endoscopic images with millimeter accuracy in real-time. It deals with stereo camera calibration, pixel-based correspondence analysis, 3D reconstruction and point cloud meshing. Accuracy, robustness and speed are evaluated with images from a test setting as well as intraoperative images. We also present a workflow where the reconstructed surface model is registered with a preoperative model using an optical tracking system. As preliminary result, we show an initial overlay between an intraoperative and ... mehr

Zugehörige Institution(en) am KIT Institut für Anthropomatik (IFA)
Publikationstyp Proceedingsbeitrag
Jahr 2011
Sprache Englisch
Identifikator ISSN: 1605-7422
KITopen ID: 1000027023
Erschienen in Medical imaging 2011 'Visualization, Image-guided procedures, and Modeling', Lake Buena Vista, Florida, United States, 13 - 15 February 2011, Part 1. Ed.: K. H. Wong
Verlag SPIE, Bellingham (Wash.)
Seiten 796414
Serie Proc. of SPIE ; 7964
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