Abstract
In this paper we present a real-time intra-operative reconstruction system for laparoscopic surgery. The system builds upon a surgical robot for laparoscopy that has previously been developed by us. Such a system is valuable for surgeons, who can get a three dimensional visualization of the scene online, without having to postprocess data. We gain a significant speed increase over existing such systems by carefully parallelizing tasks and using the GPU for computationally expensive sub-tasks, making real-time reconstruction and visualization possible. Our implementation is also robust with respect to outliers and can potentially be extended to be used with non-robotic surgery. We demonstrate the performance of our system on ex-vivo samples and compare it to alternative implementations.
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Moll, M., Tang, HW., Van Gool, L. (2010). GPU-Accelerated Robotic Intra-operative Laparoscopic 3D Reconstruction. In: Navab, N., Jannin, P. (eds) Information Processing in Computer-Assisted Interventions. IPCAI 2010. Lecture Notes in Computer Science, vol 6135. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-13711-2_9
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DOI: https://doi.org/10.1007/978-3-642-13711-2_9
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