Distortion Correction of Wedge Prism 3D Endoscopic Images

We have developed a wedge prism 3D endoscope moving its FOV with the rotation of the prisms to realize safe and precise robotic assisted laparoscopic surgery. However, it is difficult to perform image registration between preoperative MRI data and endoscopic images for image guidance surgery because our endoscopic images have prism-specific distortion. In this study, we propose the algorhythms of distorsion correction of the endoscopic images. Wedge prism distortion separated from lens distortion was corrected by tracking optical rays. The linearity of image distortion correction was 0.83 in a front of view and 0.94 in a right side view. By our developed method of image distortion correction, the disadvantage of wedge prism endoscpe was improved. The wege prism 3D endoscope is useful for the image guidance system in robotic assisted minimally invasive surgery.