Details

Autor(en) / Beteiligte

• Sui, Congying
• Wu, Jiahao
• Wang, Zerui
• Ma, Gan
• Liu, Yun-Hui

Titel

A Real-Time 3D Laparoscopic Imaging System: Design, Method, and Validation

Ist Teil von

• IEEE transactions on biomedical engineering, 2020-09, Vol.67 (9), p.2683-2695

Ort / Verlag

United States: IEEE

Erscheinungsjahr

2020

Quelle

IEEE Electronic Library Online

Beschreibungen/Notizen

• Objective: This paper aims to propose a 3D laparoscopic imaging system that can realize dense 3D reconstruction in real time. Methods: Based on the active stereo technique which yields high-density, accurate and robust 3D reconstruction by combining structured light and stereo vision, we design a laparoscopic system consisting of two image feedback channels and one pattern projection channel. Remote high-speed image acquisition and pattern generation lay the foundation for the real-time dense 3D surface reconstruction and enable the miniaturization of the laparoscopic probe. To enhance the reconstruction efficiency and accuracy, we propose a novel active stereo method by which the dense 3D point cloud is obtained using only five patterns, while most existing multiple-shot structured light techniques require <inline-formula><tex-math notation="LaTeX">\text{10--40}</tex-math></inline-formula> patterns. In our method, dual-frequency phase-shifting fringes are utilized to uniquely encode the pixels of the measured targets, and a dual-codeword matching scheme is developed to simplify the matching procedure and achieve high-precision reconstruction. Results: Compared with the existing structured light techniques, the proposed method shows better real-time efficiency and accuracy in both quantitative and qualitative ways. Ex-vivo experiments demonstrate the robustness of the proposed method to different biological organs and the effectiveness to lesions and deformations of the organs. Feasibility of the proposed system for real-time dense 3D reconstruction is verified in dynamic experiments. According to the experimental results, the system acquires 3D point clouds with a speed of 12 frames per second. Each frame contains more than 40,000 points, and the average errors tested on standard objects are less than 0.2 mm. Significance: This paper provides a new real-time dense 3D reconstruction method for 3D laparoscopic imaging. The established prototype system has shown good performance in reconstructing surface of biological tissues.