Time-of-Flight 3-D Endoscopy

  • Authors:

  • Jochen Penne;Kurt Höller;Michael Stürmer;Thomas Schrauder;Armin Schneider;Rainer Engelbrecht;Hubertus Feußner;Bernhard Schmauss;Joachim Hornegger

  • Affiliations:

  • Chair of Pattern Recognition and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg, Germany;Chair of Pattern Recognition and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg, Germany;Chair of Pattern Recognition and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg, Germany;Chair of Microwave Engineering and High Frequency Technology, Friedrich-Alexander University, Erlangen-Nuremberg, Germany;Workgroup for Minimally Invasive Therapy and Intervention, Klinikum rechts der Isar, Technical University Munich,;Chair of Microwave Engineering and High Frequency Technology, Friedrich-Alexander University, Erlangen-Nuremberg, Germany;Workgroup for Minimally Invasive Therapy and Intervention, Klinikum rechts der Isar, Technical University Munich,;Chair of Microwave Engineering and High Frequency Technology, Friedrich-Alexander University, Erlangen-Nuremberg, Germany;Chair of Pattern Recognition and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg, Germany

  • Venue:
  • MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
  • Year:
  • 2009

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Abstract

This paper describes the first accomplishment of the Time-of-Flight (ToF) measurement principle via endoscope optics. The applicability of the approach is verified by in-vitro experiments. Off-the-shelf ToF camera sensors enable the per-pixel, on-chip, real-time, marker-less acquisition of distance information. The transfer of the emerging ToF measurement technique to endoscope optics is the basis for a new generation of ToF rigid or flexible 3-D endoscopes. No modification of the endoscope optic itself is necessary as only an enhancement of illumination unit and image sensors is necessary. The major contribution of this paper is threefold: First, the accomplishment of the ToF measurement principle via endoscope optics; second, the development and validation of a complete calibration and post-processing routine; third, accomplishment of extensive in-vitro experiments. Currently, a depth measurement precision of 0.89 mm at 20 fps with 3072 3-D points is achieved.