Surface reconstruction from tracked endoscopic video using the structure from motion approach

Deyu Sun, Jiquan Liu, Cristian A. Linte, Huilong Duan, Richard A. Robb

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

The lack of 3D vision and proper depth perception associated with traditional endoscopy significantly limits the quality of the diagnostic examinations and therapy delivery. To address this challenge, we propose a technique to reconstruct a 3D model of the visualized scene from a sequence of spatially-encoded endoscopic video frames. The method is based on the structure from motion approach adopted from computer vision, and uses both the intrinsic camera parameters, as well as the tracking transforms associated with each acquired video frame to calculate the global coordinates of the features in the video, and generate a true size 3D model of the imaged scene. We conducted a series of phantom experiments to evaluate the robustness of the proposed method and the accuracy of a generated 3D scene, which yielded 1.7±0.9 mm reconstruction error. We also demonstrated the application of the proposed method using patient-specific endoscopic video image samples acquired during an in vivo gastroscopy procedure.

Original languageEnglish (US)
Title of host publicationAugmented Reality Environments for Medical Imaging and Computer-Assisted Interventions - 6th Int. Workshop, MIAR 2013 and 8th Int. Workshop, AE-CAI 2013, Held in Conjunction with MICCAI 2013, Proc.
Pages127-135
Number of pages9
DOIs
StatePublished - Dec 30 2013
Event6th International Workshop on Augmented Reality Environments for Medical Imaging and Computer-Assisted Interventions, MIAR 2013 and 8th International Workshop, AE-CAI 2013, Held in Conjunction with MICCAI 2013 - Nagoya, Japan
Duration: Sep 22 2013Sep 22 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8090 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other6th International Workshop on Augmented Reality Environments for Medical Imaging and Computer-Assisted Interventions, MIAR 2013 and 8th International Workshop, AE-CAI 2013, Held in Conjunction with MICCAI 2013
CountryJapan
CityNagoya
Period9/22/139/22/13

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Keywords

  • endoscopy
  • hand-eye calibration
  • motion tracking device
  • reconstruction
  • structure from motion

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Sun, D., Liu, J., Linte, C. A., Duan, H., & Robb, R. A. (2013). Surface reconstruction from tracked endoscopic video using the structure from motion approach. In Augmented Reality Environments for Medical Imaging and Computer-Assisted Interventions - 6th Int. Workshop, MIAR 2013 and 8th Int. Workshop, AE-CAI 2013, Held in Conjunction with MICCAI 2013, Proc. (pp. 127-135). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 8090 LNCS). https://doi.org/10.1007/978-3-642-40843-4_14