Abstract
In view of the problem that the doctor cannot quickly obtain the three-dimensional information of the liver surface during the traditional open resection of liver tumor without radiation, a new three-dimensional reconstruction system of liver surface based on binocular structured light is proposed in this paper to obtain three-dimensional information of liver surface rapidly. The hardware construction and software module design of the three-dimensional reconstruction system of the liver surface are carried out. The multi-frequency heterodyne method is proposed to solve the problem of the lack of three-dimensional reconstruction of the liver surface. A GPU-CPU collaborative acceleration method is proposed to speed up the three-dimensional reconstruction of intraoperative liver surface. On this basis, a human respiratory platform is built to simulate the effect of human respiration on three-dimensional reconstruction of the liver surface in a real surgical environment. The accuracy and speed of the system are verified by the liver experiments: The errors of three-dimensional reconstruction of liver surface at expiratory peak and inspiratory peak are 0.78 ± 0.18mm and 0.92 ± 0.21 mm, respectively. The average time required for three-dimensional reconstruction of liver surface based on GPU-CPU collaborative calculation is 3.93s. The speed of three-dimensional reconstruction of liver surface based on GPU-CPU collaborative calculation is 52% faster than that of three-dimensional reconstruction of liver surface based on CPU. It can be seen that the system has high accuracy and fast speed, which can meet the basic needs of the doctor in surgery.
Highlights
The incidence of liver tumors is increasing year by year all over the world
The mean error of 3D reconstruction of the liver surface at expiratory peak and inspiratory peak is 0.78mm and 0.92mm. It can be seen from the experimental results that the standard error of 3D reconstruction of liver surface is slightly higher at the inspiratory peak than at the expiratory peak (The standard error mainly refers to the square root of the arithmetic mean of the error between the liver surface reconstructed by CT and the liver surface reconstructed by this system)
A new 3D reconstruction system of liver surface based on binocular structured light is proposed to solve the problem that the doctor could not obtain 3D information of liver surface during surgery
Summary
The incidence of liver tumors is increasing year by year all over the world. Hepatectomy is the most effective method to treat liver tumors. The reconstructed liver surface is registered with a 3D biomechanical model of the preoperative liver It can provide a solid foundation for intraoperative navigation of liver surgery, and can be used to determine the location of the tumor. It can avoid the possibility of the liver being cut by mistake to a large extent [6,7,8,9]. The 3D reconstruction technology based on structured light has attracted more and more attention in the field of biomedical research due to its high precision, good anti-interference and wide application, rapid 3D reconstruction of the surface of the surgical area during the operation in the basis of intraoperative navigation [12,13,14]. The key point of structured light 3D reconstruction technique is to project
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