A Fast Stereo Matching Method for
3D Reconstruction of Internal Organs in Laparoscopic Surgery

Yoshimichi OKADA*1), Takeshi KOISHI*2), Suguru USHIKI*2)
Toshiya NAKAGUCHI*1,2), Norimichi TSUMURA*1,2), Yoichi MIYAKE*1,2,3)

*1 Graduate School of Advanced Integration Science
*2 Graduate School of Science and Technology, Chiba University
*3 Research Center for Frontier Medical Engineering, Chiba University

Medcal Imaging Technology, Vol.22, No.1, pp.35-40 (2004)

Abstract
In this paper, we propose fast stereo matching algorithm for 3D reconstruction of internal organs using a stereoscopic laparoscope. Stoyanov et al. proposed a technique that recovers the 3D depth of internal organs from the images of a stereoscopic laparoscope. In this conventional technique, the dense stereo correspondence was solved based on the registration of the whole image regions in order that the 3D depth of internal organs can be densely recovered. However, the calculation cost of this technique was very high since the registration of whole image regions requires multidimensional optimization. In this paper, we propose algorithm using a local-region based registration method considering the similarity of stereo images taken by a stereoscopic laparoscope. The local-region based registration requires only low dimensional optimization. Therefore, its calculation cost is significantly low. We evaluated the calculation cost of the proposed algorithm using a stereoscopic laparoscope and abdominal models of a human body. We also evaluated the accuracy of the algorithm using a 3D laser scanner and abdominal models. The results showed that the proposed algorithm can significantly reduce the calculation cost with a little accuracy degradation of 3D depth.

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