2-DOF auto-calibration for a 3D endoscope system based on active stereo

Ryo Furukawa, Ryunosuke Masutani, Daisuke Miyazaki, Masashi Baba, Shinsaku Hiura, Marco Visentini-Scarzanella, Hiroki Morinaga, Hiroshi Kawasaki, Ryusuke Sagawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

For endoscopic medical treatment, measuring the size and shape of lesions, such as tumors, is important. We are developing a 3D endoscope system to measure the shape and size of living tissues based on active stereo. In previous works, our group attached a pattern projector outside the endoscope head. Since this increased the diameter of the endoscope, the burden and the risks of the patients would increase. In this paper, we set the pattern projector inside the instrument channel of the endoscope instead of mounting it outside, so that it can be deployed whenever required. This does not increase the size of the endoscope and facilitates the measuring process. However, since the projector is not physically fixed to the endoscope anymore prior to the operation, we propose an 'auto-calibration' technique where extrinsic parameters are calibrated intra-operatively from a point marker on the projector observed simultaneously on the target surface. In the experiment, we show that the external parameters were successfully calibrated to obtain 3D reconstructions properly with the overall systems. The accuracy of the auto-calibration was validated by confirming that the epipolar constraints were kept, and a 3D reconstruction of a human tissue was demonstrated.

Original languageEnglish
Title of host publication2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages7937-7941
Number of pages5
ISBN (Electronic)9781424492718
DOIs
Publication statusPublished - Nov 4 2015
Externally publishedYes
Event37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, Italy
Duration: Aug 25 2015Aug 29 2015

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Volume2015-November
ISSN (Print)1557-170X

Other

Other37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
CountryItaly
CityMilan
Period8/25/158/29/15

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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