Abstract
Objective: 3D reconstruction of the shape and texture of hollow organs captured by endoscopy is important for the diagnosis and surveillance of early and recurrent cancers. Better evaluation of 3D reconstruction pipelines developed for such applications requires easy access to extensive datasets and associated ground truths, cost-efficient and scalable simulations of a range of possible clinical scenarios, and more reliable and insightful metrics to assess performance. Methods: We present a computer-aided simulation platform for cost-effective synthesis of monocular endoscope videos and corresponding ground truths that mimic a range of potential settings and situations one might encounter during acquisition of clinical endoscopy videos. Using cystoscopy of the bladder as model case, we generated an extensive dataset comprising several synthesized videos of a bladder phantom. We then introduce a novel evaluation procedure to reliably assess an individual 3D reconstruction pipeline or to compare different pipelines. Results: To illustrate the use of the proposed platform and evaluation procedure, we use the aforementioned dataset and ground truths to evaluate a proprietary 3D reconstruction pipeline (CYSTO3D) for bladder cystoscopy videos and compared it with a general-purpose 3D reconstruction pipeline (COLMAP). The evaluation results provide insight into the suggested clinical acquisition protocol and several potential areas for refinement of the pipeline to improve future performance. Conclusion: Our work proposes an endoscope video synthesis and reconstruction evaluation toolset and presents experimental results that illustrate usage of the toolset to efficiently assess performance and reveal possible problems of any given 3D reconstruction pipeline, to compare different pipelines, and to provide technically or clinically actionable insights.
Highlights
Structured Abstract—Objective: 3D reconstruction of the shape and texture of hollow organs captured by endoscopy is important for the diagnosis and surveillance of early and recurrent cancers
We focus on two idealized trajectory types that are feasible in cystoscopy: (1) In the spiral trajectory (Fig. 3 (a)), one continuously rotates the cystoscope shaft while simultaneously increasing the amount of shaft insertion, changing the bend of the tip when needed to scan the bladder in a spiral path
We propose the following evaluation procedure associated with the steps described in Fig. 5: (a) To evaluate outcomes of step 1, first assess the quality of the reconstructed camera poses via the absolute pose error (APE) and relative pose error (RPE)
Summary
Structured Abstract—Objective: 3D reconstruction of the shape and texture of hollow organs captured by endoscopy is important for the diagnosis and surveillance of early and recurrent cancers. Better evaluation of 3D reconstruction pipelines developed for such applications requires easy access to extensive datasets and associated ground truths, cost-efficient and scalable simulations of a range of possible clinical scenarios, and more reliable and insightful metrics to assess performance. Conclusion: Our work proposes an endoscope video synthesis and reconstruction evaluation toolset and presents experimental results that illustrate usage of the toolset to efficiently assess performance and reveal possible problems of any given 3D reconstruction pipeline, to compare different pipelines, and to provide technically or clinically actionable insights. 3D reconstruction pipelines for virtual endoscopy can produce 3D models of the shape and texture (visual pattern) of hollow organ cavities from monocular endoscope video frames that preserve spatial perception and are easier to review, compare and annotate [9] [10]–[12]. The lack of such tools makes it difficult to identify which aspects of a newly developed pipeline should be changed to improve its performance, or to compare different pipelines to determine which is better for a certain clinical application scenario
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