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Laparoscopic Anatomical Liver Segment VII Resection with Liver Parenchymal Transection Following a Priority Approach
Published on: May 23, 2025
A structured light-based laparoscope with real-time organs' surface reconstruction for minimally invasive surgery
Xavier Maurice1, Chadi Albitar, Christophe Doignon
1Laboratoire des Sciences de l’Image, de l’Informatique et de la Télédétection (UMR CNRS), Equipe Automatique Vision et Robotique, Université de Strasbourg, France.
Summary
This study introduces a novel 3-D laparoscopic device using structured light for minimally invasive surgery. It enables real-time organ surface reconstruction despite surgical interferences, enhancing surgical visualization.
Area of Science:
- Medical Imaging
- Surgical Technology
- Computer Vision
Background:
- Real-time 3-D reconstruction of internal organs during minimally invasive surgery is challenging due to numerous visual disturbances.
- Existing structured light techniques struggle with dynamic and deformable surgical environments.
Purpose of the Study:
- To develop a novel 3-D laparoscopic device utilizing structured light for enhanced real-time surface reconstruction in minimally invasive surgery.
- To address challenges posed by surgical interferences like blood, smoke, and specularities.
Main Methods:
- A structured light vision system employing a coded pattern projected by external devices or diffractive optical elements and a laser source.
- Utilizing a spatial neighbourhood scheme with unique 9-bit codewords for each (3x3) window, ensuring robustness.
- Designing a monochromatic subperfect map-based pattern with a minimal Hamming distance (H(min) > 1) for high error correction capabilities.
- Associating numerical codewords with visual features for efficient neighbourhood retrieval during decoding.
Main Results:
- The proposed pattern design and decoding process demonstrate high correction capabilities, effectively handling visual disturbances.
- The 3-D laparoscope setup achieved in vivo real-time reconstructions under simulated mini-invasive surgical conditions.
- Validation of the system's efficiency in capturing depth maps in a single shot for moving and deformable surfaces.
Conclusions:
- The developed 3-D laparoscopic device and structured light system provide an efficient solution for real-time surface reconstruction in challenging surgical environments.
- The novel pattern design enhances robustness against surgical interferences, improving visualization and potentially surgical outcomes.
- The system shows promise for integration into clinical practice for advanced minimally invasive procedures.
