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3-D operation situs reconstruction with time-of-flight satellite cameras using photogeometric data fusion.

Authors
  • Haase, Sven
  • Bauer, Sebastian
  • Wasza, Jakob
  • Kilgus, Thomas
  • Maier-Hein, Lena
  • Schneider, Armin
  • Kranzfelder, Michael
  • Feubner, Hubertus
  • Hornegger, Joachim
Type
Published Article
Journal
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
Publication Date
Jan 01, 2013
Volume
16
Issue
Pt 1
Pages
356–363
Identifiers
PMID: 24505686
Source
Medline
License
Unknown

Abstract

Minimally invasive procedures are of growing importance in modern surgery. Navigation and orientation are major issues during these interventions as conventional endoscopes only cover a limited field of view. We propose the application of a Time-of-Flight (ToF) satellite camera at the zenith of the pneumoperitoneum to survey the operation situs. Due to its limited field of view we propose a fusion of different 3-D views to reconstruct the situs using photometric and geometric information provided by the ToF sensor. We were able to reconstruct the entire abdomen with a mean absolute mesh-to-mesh error of less than 5 mm compared to CT ground truth data, at a frame rate of 3 Hz. The framework was evaluated on real data from a miniature ToF camera in an open surgery pig study and for quantitative evaluation with a realistic human phantom. With the proposed approach to operation situs reconstruction we improve the surgeons' orientation and navigation and therefore increase safety and speed up surgical interventions.

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