A 3D Laparoscopic Imaging System Based on Stereo-Photogrammetry with Random Patterns
Refereed conference paper presented and published in conference proceedings


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AbstractIn this paper, we propose a novel 3D laparoscopic imaging system based on stereo-photogrammetry which is assisted by projecting patterns on the tissue surface. The proposed laparoscopic imaging system has three optic channels, two of which are responsible for stereo vision feedback and the other one is used for coded structured patterns projection. The projected patterns provide the robustness to homogeneous tissue surface since they add more features that can be relied on in the stereo matching. Image fiber bundles (100 k pixels) and Gradient-index (GRIN) lenses are utilized to facilitate the remote image acquisition and miniaturization of the laparoscopic probe. Moreover, we adopt a digital micromirror device (DMD) and high-speed cameras to achieve fast pattern switching (up to 4 kHz) and high frame rate image acquisition. The system configuration allows for implementation of the time multiplexing pattern codification strategy in the 3D laparoscopic imaging system to enhance the reliability and resolution of the 3D surface reconstruction. A prototype is established, and various experiments are conducted. Comparative experimental results prove the advantages of our system design. The static and dynamic 3D reconstruction results validate the performance of the proposed 3D laparoscopic imaging system quantitatively and qualitatively.
All Author(s) ListSui CY, Wang ZR, Liu YH
Name of Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Start Date of Conference01/10/2018
End Date of Conference05/10/2018
Place of ConferenceMadrid
Country/Region of ConferenceSpain
Journal name2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Proceedings Title2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Title of Publication2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Year2019
Month1
PublisherIEEE
Pages1276 - 1282
ISSN2153-0858
LanguagesEnglish-United Kingdom
KeywordsThree-dimensional displays, Laparoscopes, Lenses, Imaging, Probes, Image resolution, Surface reconstruction
Web of Science Subject CategoriesComputer Science, Artificial Intelligence;Computer Science, Information Systems;Robotics;Computer Science;Robotics

Last updated on 2020-04-04 at 12:22