GPU-accelerated robotic intra-operative laparoscopic 3D reconstruction

Authors:
Markus Moll;Hsiao-Wei Tang;Luc Van Gool
Affiliations:
Katholieke Universiteit Leuven, ESAT-PSI, IBBT, Department of Electrical Engineering, Heverlee, Belgium;Katholieke Universiteit Leuven, PMA, Department of Mechanical Engineering, Heverlee, Belgium;Katholieke Universiteit Leuven, ESAT-PSI, IBBT, Department of Electrical Engineering, Heverlee, Belgium and Swiss Federal Institute of Technology, D-ITET, Computer Vision Laboratory, Zürich, ...
Venue:
IPCAI'10 Proceedings of the First international conference on Information processing in computer-assisted interventions
Year:
2010

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Abstract

In this paper we present a real-time intra-operative reconstruction system for laparoscopic surgery. The system builds upon a surgical robot for laparoscopy that has previously been developed by us. Such a system is valuable for surgeons, who can get a three dimensional visualization of the scene online, without having to postprocess data. We gain a significant speed increase over existing such systems by carefully parallelizing tasks and using the GPU for computationally expensive subtasks, making real-time reconstruction and visualization possible. Our implementation is also robust with respect to outliers and can potentially be extended to be used with non-robotic surgery. We demonstrate the performance of our system on ex-vivo samples and compare it to alternative implementations.