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

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

13 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ7937-7941
ページ数5
ISBN(電子版)9781424492718
DOI
出版ステータス出版済み - 11 4 2015
外部発表はい
イベント37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, イタリア
継続期間: 8 25 20158 29 2015

出版物シリーズ

名前Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
2015-November
ISSN(印刷版)1557-170X

その他

その他37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
Countryイタリア
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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