Dataset Information

EMDQ-SLAM: Real-time High-resolution Reconstruction of Soft Tissue Surface from Stereo Laparoscopy Videos.

ABSTRACT: We propose a novel stereo laparoscopy video-based non-rigid SLAM method called EMDQ-SLAM, which can incrementally reconstruct thee-dimensional (3D) models of soft tissue surfaces in real-time and preserve high-resolution color textures. EMDQ-SLAM uses the expectation maximization and dual quaternion (EMDQ) algorithm combined with SURF features to track the camera motion and estimate tissue deformation between video frames. To overcome the problem of accumulative errors over time, we have integrated a g2o-based graph optimization method that combines the EMDQ mismatch removal and as-rigid-as-possible (ARAP) smoothing methods. Finally, the multi-band blending (MBB) algorithm has been used to obtain high resolution color textures with real-time performance. Experimental results demonstrate that our method outperforms two state-of-the-art non-rigid SLAM methods: MISSLAM and DefSLAM. Quantitative evaluation shows an average error in the range of 0.8-2.2 mm for different cases.

SUBMITTER: Zhou H

PROVIDER: S-EPMC9165607 | biostudies-literature | 2021 Sep-Oct

REPOSITORIES: biostudies-literature

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Publications

EMDQ-SLAM: Real-time High-resolution Reconstruction of Soft Tissue Surface from Stereo Laparoscopy Videos.

Zhou Haoyin H Jayender Jagadeesan J

Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention 20210921

We propose a novel stereo laparoscopy video-based non-rigid SLAM method called EMDQ-SLAM, which can incrementally reconstruct thee-dimensional (3D) models of soft tissue surfaces in real-time and preserve high-resolution color textures. EMDQ-SLAM uses the expectation maximization and dual quaternion (EMDQ) algorithm combined with SURF features to track the camera motion and estimate tissue deformation between video frames. To overcome the problem of accumulative errors over time, we have integra ...[more]

PMID: 35664445

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Project description:Soft tissue reconstruction of the lower limb has seen a paradigm shift over the past two decades. Typically, these defects arise from trauma, infection or tumor. It is no longer enough to simply achieve coverage. Factors like patient-reported outcomes and aesthetic considerations are essential in the decision-making process. This is especially in light of increasing technological advancement, availability of dermal substitutes, microsurgical expertise and development of the field of microsurgical reconstruction as a whole with more novel flaps and techniques. Advancements in reconstructive modalities have also been equally matched by better emergency medical mobilization, transportation and access, early initiation of subspecialty care, accessibility and types of imaging, as well as oncological advances in radiotherapy and chemotherapy regimens. Yet, this has also meant that our patient profile has expanded to include older patients with more co-morbidities and other considerations such as frailty or the irradiated field which could influence what reconstructive modality is suitable and the goals of reconstruction specific to the patient. Previously deemed unsalvageable limbs are now being successfully reconstructed with good function and aesthesis. In the lower limb, this implicates the ability for early mobilization, range of motion and weight bearing which allow the patient to successfully partake in early rehabilitation. Expedient and reliable healing is also important in the oncological population where a proportion of these patients would need to go on to receive post-operative chemotherapy or radiotherapy. The reconstructive ladder has been what many reconstructive surgeons have been taught upon with regard to the basic principles of pre-operative planning and choosing the appropriate reconstructive modality. In this article, we examine the relevance of the reconstructive ladder in modern practice and the additional considerations in the approach to a soft tissue defect in the lower extremity.

Dataset Information

EMDQ-SLAM: Real-time High-resolution Reconstruction of Soft Tissue Surface from Stereo Laparoscopy Videos.

Publications

EMDQ-SLAM: Real-time High-resolution Reconstruction of Soft Tissue Surface from Stereo Laparoscopy Videos.

Similar Datasets

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