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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摘要In 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.
著者Sui CY, Wang ZR, Liu YH
會議名稱2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
會議開始日01.10.2018
會議完結日05.10.2018
會議地點Madrid
會議國家/地區西班牙
期刊名稱2017 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
會議論文集題名2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
出版作品名稱2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
出版年份2019
月份1
出版社IEEE
頁次1276 - 1282
國際標準期刊號2153-0858
語言英式英語
關鍵詞Three-dimensional displays, Laparoscopes, Lenses, Imaging, Probes, Image resolution, Surface reconstruction
Web of Science 學科類別Computer Science, Artificial Intelligence;Computer Science, Information Systems;Robotics;Computer Science;Robotics

上次更新時間 2020-30-11 於 02:02