Dense soft tissue 3D reconstruction refined with super-pixel segmentation for robotic abdominal surgery

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• 作者：Veronica Penza ; Jesús Ortiz…
• 关键词：Surface reconstruction ; Super ; pixel segmentation ; Robotic surgery ; Census transform ; Depth estimation
• 刊名：International Journal of Computer Assisted Radiology and Surgery
• 出版年：2016
• 出版时间：February 2016
• 年：2016
• 卷：11
• 期：2
• 页码：197-206
• 全文大小：3,552 KB
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• 作者单位：Veronica Penza (1) (5)
  Jesús Ortiz (1)
  Leonardo S. Mattos (1)
  Antonello Forgione (2) (3) (4)
  Elena De Momi (5)
  
  1. Department of Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30, 16163, Genoa, Italy
  5. Department of Electronics, Information and Bioengineering, Politecnico di Milano, P.zza L. Da Vinci, 32, 20133, Milan, Italy
  2. Ospedale Niguarda Ca’ Granda, P.zza Dell’Ospedale Maggiore, 3, 20162, Milan, Italy
  3. AIMS Academy, P.zza Dell’Ospedale Maggiore, 3, 20162, Milan, Italy
  4. Valuebiotech s.r.l., P.zza Dell’Ospedale Maggiore, 3, 20162, Milan, Italy
  
• 刊物主题：Imaging / Radiology; Surgery; Health Informatics; Computer Imaging, Vision, Pattern Recognition and Graphics; Computer Science, general;
• 出版者：Springer Berlin Heidelberg
• ISSN：1861-6429

文摘

Purpose Single-incision laparoscopic surgery decreases postoperative infections, but introduces limitations in the surgeon’s maneuverability and in the surgical field of view. This work aims at enhancing intra-operative surgical visualization by exploiting the 3D information about the surgical site. An interactive guidance system is proposed wherein the pose of preoperative tissue models is updated online. A critical process involves the intra-operative acquisition of tissue surfaces. It can be achieved using stereoscopic imaging and 3D reconstruction techniques. This work contributes to this process by proposing new methods for improved dense 3D reconstruction of soft tissues, which allows a more accurate deformation identification and facilitates the registration process.