Mountney Peter, Yang Guang-Zhong
Department of Computing and Institute of Biomedical Engineering, Imperial College London. South Kensington Campus, London SW7 2AZ, UK.
Annu Int Conf IEEE Eng Med Biol Soc. 2009;2009:1184-7. doi: 10.1109/IEMBS.2009.5333939.
Navigation during Minimally Invasive Surgery (MIS) has recognized difficulties due to limited field-of-view, off-axis visualization and loss of direct 3D vision. This can cause visual-spatial disorientation when exploring complex in vivo structures. In this paper, we present an approach to dynamic view expansion which builds a 3D textured model of the MIS environment to facilitate in vivo navigation. With the proposed technique, no prior knowledge of the environment is required and the model is built sequentially while the laparoscope is moved. The method is validated on simulated data with known ground truth. Its potential clinical value is also demonstrated with in vivo experiments.
由于视野有限、轴外可视化以及直接三维视觉的丧失，微创手术（MIS）中的导航存在公认的困难。在探索复杂的体内结构时，这可能会导致视觉空间定向障碍。在本文中，我们提出了一种动态视野扩展方法，该方法构建了MIS环境的三维纹理模型，以促进体内导航。使用所提出的技术，无需对环境有先验知识，并且在腹腔镜移动时顺序构建模型。该方法在具有已知地面真值的模拟数据上得到了验证。体内实验也证明了其潜在的临床价值。
