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Erschienen in:
2009 | OriginalPaper | Buchkapitel
i-BRUSH: A Gaze-Contingent Virtual Paintbrush for Dense 3D Reconstruction in Robotic Assisted Surgery
verfasst von : Marco Visentini-Scarzanella, George P. Mylonas, Danail Stoyanov, Guang-Zhong Yang
Erschienen in: Medical Image Computing and Computer-Assisted Intervention – MICCAI 2009
Verlag: Springer Berlin Heidelberg
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With increasing demand on intra-operative navigation and motion compensation during robotic assisted minimally invasive surgery, real-time 3D deformation recovery remains a central problem. Currently the majority of existing methods rely on salient features, where the inherent paucity of distinctive landmarks implies either a semi-dense reconstruction or the use of strong geometrical constraints. In this study, we propose a gaze-contingent depth reconstruction scheme by integrating human perception with semi-dense stereo and
p-q
based shading information. Depth inference is carried out in real-time through a novel application of Bayesian chains without smoothness priors. The practical value of the scheme is highlighted by detailed validation using a beating heart phantom model with known geometry to verify the performance of gaze-contingent 3D surface reconstruction and deformation recovery.