Modeling the convergence accommodation of stereo vision for binocular endoscopy

The stereo laparoscope is an important tool for achieving depth perception in robot-assisted minimally invasive surgery (MIS).

A dynamic convergence accommodation algorithm is proposed to improve the viewing experience and achieve accurate depth perception. Based on the principle of the human vision system, a positional kinematic model of the binocular view system is established. The imaging plane pair is rectified to ensure that the two rectified virtual optical axes intersect at the fixation target to provide immersive depth perception.

Stereo disparity was simulated with the roll and pitch movements of the binocular system. The chessboard test and the endoscopic peg transfer task were performed, and the results demonstrated the improved disparity distribution and robustness of the proposed convergence accommodation method with respect to the position of the fixation target.

This method offers a new solution for effective depth perception with the stereo laparoscopes used in robot-assisted MIS.