3D Reconstruction for Minimally Invasive Surgery: Lidar versus Learning-based Stereo Matching
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Open access
Date
2023-05-29Type
- Other Conference Item
ETH Bibliography
yes
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Abstract
This work investigates real-time 3D surface reconstruction for minimally invasive surgery. Specifically, we analyze depth sensing through laser-based time-of-flight sensing lidar and stereo endoscopy on ex-vivo porcine tissue samples. When compared to modern learning-based stereo matching from endoscopic images, lidar achieves higher precision, lower processing delay, higher frame rate, and superior robustness against sensor distance and poor illumination. Furthermore, we report on the negative effect of near-infrared light penetration on the accuracy of time-of-flight measurements across different tissue types. Show more
Permanent link
https://doi.org/10.3929/ethz-b-000659440Publication status
publishedPublisher
ETH ZurichEvent
Subject
medical imaging; computer vision; Surgical robotics; LiDAR; stereo reconstruction; comparisonOrganisational unit
02620 - Inst. f. Robotik u. Intelligente Systeme / Inst. Robotics and Intelligent Systems
Notes
Poster abstractMore
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ETH Bibliography
yes
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