Abstract
One of the major challenges for Minimally Invasive Surgery (MIS) is the limited field of vision (FOV) of the endoscope. A previous study by the authors designed a MIS Panoramic Endoscope (MISPE) that gives the physician a broad field of view, but this approach is still limited, in terms of performance and quality because it encounters difficulty when there is smoke, specular reflections, or a change in viewpoint. This study proposes a novel algorithm that increases the MISPE’s performance. The method calculates the disparity for the region that is overlapped by the two cameras to allow image stitching. An improved evaluation of the homography matrix uses a frame-by-frame calculation, so the stitched videos are more stable for MIS. The experimental results show that the revised MISPE has a FOV that is 55% greater, and the system operates stably in real time. The proposed system allows a frame rate of 26.7 fps on a single CPU computer. The proposed stitching method is 1.55 times faster than the previous method. The stitched image that is obtained using the proposed method is as similar as the ground truth as the SURF-based stitching method that was used in the previous study.
Highlights
Research ArticleDinh Thai Kim ,1,2 Ching Hwa Cheng ,3 Don Gey Liu, Kai-Che Jack Liu, Shih Wei Wayne Huang, and Song Toan Tran
Invasive Surgery (MIS) is becoming a gradually preferred option to traditional open surgery because it involves decreased blood loss, decreased postoperative pain, fast recovery time, and less scarring
To solve the problem of limited field of vision (FOV) in the current endoscope, we consider other studies that proposed the use of a panoramic endoscope that has a special design
Summary
Dinh Thai Kim ,1,2 Ching Hwa Cheng ,3 Don Gey Liu, Kai-Che Jack Liu, Shih Wei Wayne Huang, and Song Toan Tran. One of the major challenges for Minimally Invasive Surgery (MIS) is the limited field of vision (FOV) of the endoscope. A previous study by the authors designed a MIS Panoramic Endoscope (MISPE) that gives the physician a broad field of view, but this approach is still limited, in terms of performance and quality because it encounters difficulty when there is smoke, specular reflections, or a change in viewpoint. E method calculates the disparity for the region that is overlapped by the two cameras to allow image stitching. E proposed stitching method is 1.55 times faster than the previous method. E stitched image that is obtained using the proposed method is as similar as the ground truth as the SURF-based stitching method that was used in the previous study An improved evaluation of the homography matrix uses a frame-by-frame calculation, so the stitched videos are more stable for MIS. e experimental results show that the revised MISPE has a FOV that is 55% greater, and the system operates stably in real time. e proposed system allows a frame rate of 26.7 fps on a single CPU computer. e proposed stitching method is 1.55 times faster than the previous method. e stitched image that is obtained using the proposed method is as similar as the ground truth as the SURF-based stitching method that was used in the previous study
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