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Methods Inf Med 2004; 43(04): 403-408
DOI: 10.1055/s-0038-1633883
Original Article
Schattauer GmbH

Light Fields for Minimal Invasive Surgery Using an Endoscope Positioning Robot

F. Vogt
1   Chair for Pattern Recognition, University of Erlangen-Nuremberg, Erlangen, Germany
,
S. Krüger
2   Department of Surgery, University of Erlangen-Nuremberg, Erlangen, Germany
,
J. Schmidt
1   Chair for Pattern Recognition, University of Erlangen-Nuremberg, Erlangen, Germany
,
D. Paulus
3   Institute for Computational Visualistics, University of Koblenz-Landau, Koblenz, Germany
,
H. Niemann
1   Chair for Pattern Recognition, University of Erlangen-Nuremberg, Erlangen, Germany
,
W. Hohenberger
2   Department of Surgery, University of Erlangen-Nuremberg, Erlangen, Germany
,
C. H. Schick
2   Department of Surgery, University of Erlangen-Nuremberg, Erlangen, Germany
› Institutsangaben
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Publikationsdatum:
05. Februar 2018 (online)

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Summary

Objectives: To generate a fast and robust 3-D visualization of the operation site during minimal invasive surgery.

Methods: Light fields are used to model and visualize the 3-D operation site during minimal invasive surgery. An endoscope positioning robot provides the position and orientation of the endoscope. The a priori unknown transformation from the endoscope plug to the endoscope tip (hand-eye transformation) can either be determined by a three-step algorithm, which includes measuring the endoscope length by hand or by using an automatic hand-eye calibration algorithm. Both methods are described in this paper and their respective computation times and accuracies are compared.

Results: Light fields were generated during real operations and in the laboratory. The comparison of the two methods to determine the unknown hand-eye transformation was done in the laboratory. The results which are being presented in this paper are: rendered images from the generated light fields, the calculated extrinsic camera parameters and their accuracies with respect to the applied hand-eye calibration method, and computation times.

Conclusion: Using an endoscope positioning robot and knowing the hand-eye transformation, the fast and robust generation of light fields for minimal invasive surgery is possible.

Keywords

Light field - hand-eye calibration - minimally invasive surgical procedures - endoscopy - 3-D visualization
 

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