Abstract
Multispectral imaging (MSI) can potentially assist the intra-operative assessment of tissue structure, function and viability, by providing information about oxygenation. In this paper, we present a novel technique for recovering intrinsic MSI measurements from endoscopic RGB images without custom hardware adaptations. The advantage of this approach is that it requires no modification to existing surgical and diagnostic endoscopic imaging systems. Our method uses a radiometric color calibration of the endoscopic camera's sensor in conjunction with a Bayesian framework to recover a per-pixel measurement of the total blood volume (THb) and oxygen saturation (SO2) in the observed tissue. The sensor's pixel measurements are modeled as weighted sums over a mixture of Poisson distributions and we optimize the variables SO2 and THb to maximize the likelihood of the observations. To validate our technique, we use synthetic images generated from Monte Carlo physics simulation of light transport through soft tissue containing sub-surface blood vessels. We also validate our method on in vivo data by comparing it to a MSI dataset acquired with a hardware system that sequentially images multiple spectral bands without overlap. Our results are promising and show that we are able to provide surgeons with additional relevant information by processing endoscopic images with our modeling and inference framework.
Highlights
I NTRA-operative imaging during minimally invasive surgery (MIS) is the primary method of sensing used to guide surgical actions, and MIS is feasible today largely due to the evolution of digital imaging technologies that make it possible to deliver and harvest light from the surgical site through an endoscope [1]
Our real experimental validation utilises data gathered in vivo from an animal experiment to evaluate the performance of our method compared to Tikhonov regularised estimation [24] and the result from using an endoscopic Multispectral imaging (MSI) device [14]
We have presented a framework for MSI using only a limited number of wide-band measurements, which has the potential to integrate within current endoscopic systems with RGB sensors
Summary
I NTRA-operative imaging during minimally invasive surgery (MIS) is the primary method of sensing used to guide surgical actions, and MIS is feasible today largely due to the evolution of digital imaging technologies that make it possible to deliver and harvest light from the surgical site through an endoscope [1]. Surgeons are primarily reliant on images acquired in the visible light spectrum using three channel (RGB) sensors [3] either mounted at the tip of the endoscope or attached to the distal end and linked to lenses or fibre bundles. Such endoscopic system designs provide realtime images of the tissue surface that are used to guide diagnostic and therapeutic procedures. Cs.ucl.ac.uk ), in this way is that it provides limited information about the functional characteristic of the tissue This makes it difficult for surgeons to assess tissue viability, for example to evaluate posttransplantation revascularisation, or to characterise tissue types for diagnostic decisions
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