Study of visual SLAM methods in minimally invasive surgery

Abstract

In recent years, minimally invasive surgery has developed rapidly in the clinical practice of surgery and has gradually become one of the critical surgical techniques. Compared with traditional surgery, the advantages of minimally invasive surgery include small incisions and less pain during the operation, and the patients recover faster after surgery. With the expansion of minimally invasive surgery in several medical fields, traditional minimally invasive techniques have bottlenecks in clinical practice, such as the inability of the endoscope to determine the depth information of the lesion area from the two-dimensional images obtained, the difficulty in locating the endoscopic position information and the inability to get a complete view of the overall situation in the cavity. This paper uses a visual simultaneous localization and mapping (SLAM) approach to achieve endoscope localization and reconstruction of the surgical region in a minimally invasive surgical environment. Firstly, the K-Means algorithm combined with the Super point algorithm is used to extract the feature information of the image in the lumen environment. Compared with Super points, the logarithm of successful matching points increased by 32.69%, the proportion of effective points increased by 25.28%, the error matching rate decreased by 0.64%, and the extraction time decreased by 1.98%. Then the iterative closest point method is used to estimate the position and attitude information of the endoscope. Finally, the disparity map is obtained by the stereo matching method, and the point cloud image of the surgical area is finally recovered.

Keywords

• slam
• minimally invasive surgery
• superpoint algorithm
• endoscopic pose estimation
• 3d reconstruction