Abstract
PurposeThe minimally invasive surgery (MIS) has shown advantages when compared to traditional surgery. However, there are two major challenges in the MIS technique: the limited field of view (FOV) and the lack of depth perception provided by the standard monocular endoscope. Therefore, in this study, we proposed a New Endoscope for Panoramic-View with Focus-Area 3D-Vision (3DMISPE) in order to provide surgeons with a broad view field and 3D images in the surgical area for real-time display.MethodThe proposed system consisted of two endoscopic cameras fixed to each other. Compared to our previous study, the proposed algorithm for the stitching videos was novel. This proposed stitching algorithm was based on the stereo vision synthesis theory. Thus, this new method can support 3D reconstruction and image stitching at the same time. Moreover, our approach employed the same functions on reconstructing 3D surface images by calculating the overlap region’s disparity and performing image stitching with the two-view images from both the cameras.ResultsThe experimental results demonstrated that the proposed method can combine two endoscope’s FOV into one wider FOV. In addition, the part in the overlap region could also be synthesized for a 3D display to provide more information about depth and distance, with an error of about 1 mm. In the proposed system, the performance could achieve a frame rate of up to 11.3 fps on a single Intel i5-4590 CPU computer and 17.6 fps on a computer with an additional GTX1060 Nvidia GeForce GPU. Furthermore, the proposed stitching method in this study could be made 1.4 times after when compared to that in our previous report. Besides, our method also improved stitched image quality by significantly reducing the alignment errors or “ghosting” when compared to the SURF-based stitching method employed in our previous study.ConclusionThe proposed system can provide a more efficient way for the doctors with a broad area of view while still providing a 3D surface image in real-time applications. Our system give promises to improve existing limitations in laparoscopic surgery such as the limited FOV and the lack of depth perception.
Highlights
Invasive surgery (MIS) is gradually replacing traditional surgical methods because of its advantages such as causing less injury, preventing unsightly surgical scars, and resulting in faster recovery time
Our algorithm processed the images captured from the two cameras in order to create wide-range pictures and 3D images of the model frame by frame
We primarily focused on proposing a system that could simultaneously create a 3D image and a stitched image during Minimally invasive surgery (MIS) in real time
Summary
Invasive surgery (MIS) is gradually replacing traditional surgical methods because of its advantages such as causing less injury, preventing unsightly surgical scars, and resulting in faster recovery time. Being limited by the narrow view field of the endoscope makes it difficult for a doctor to see the full picture of the operation area. The display only provides 2D information, so it is quite difficult to recognize the depth as well as the relative position of the organs from the surgical instruments. This increases surgical risks, making it challenging for less experienced doctors to perform a safe surgical operation
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