Spectrally encoded fiber-based structured lighting probe for intraoperative 3D imaging |
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Authors: | Clancy Neil T Stoyanov Danail Maier-Hein Lena Groch Anja Yang Guang-Zhong Elson Daniel S |
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Institution: | 1Hamlyn Centre for Robotic Surgery, Institute of Global Health Innovation, Imperial College London, SW7 2AZ, UK;2Department of Surgery and Cancer, Imperial College London, SW7 2AZ, UK;3Department of Computing, Imperial College London, SW7 2AZ, UK;4German Cancer Research Center, Div. Medical and Biological Informatics, D-69120, Heidelberg, Germany |
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Abstract: | Three dimensional quantification of organ shape and structure during minimally invasive surgery (MIS) could enhance precision by allowing the registration of multi-modal or pre-operative image data (US/MRI/CT) with the live optical image. Structured illumination is one technique to obtain 3D information through the projection of a known pattern onto the tissue, although currently these systems tend to be used only for macroscopic imaging or open procedures rather than in endoscopy. To account for occlusions, where a projected feature may be hidden from view and/or confused with a neighboring point, a flexible multispectral structured illumination probe has been developed that labels each projected point with a specific wavelength using a supercontinuum laser. When imaged by a standard endoscope camera they can then be segmented using their RGB values, and their 3D coordinates calculated after camera calibration. The probe itself is sufficiently small (1.7 mm diameter) to allow it to be used in the biopsy channel of commonly used medical endoscopes. Surgical robots could therefore also employ this technology to solve navigation and visualization problems in MIS, and help to develop advanced surgical procedures such as natural orifice translumenal endoscopic surgery. |
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