GPU-Accelerated Robotic Intra-operative Laparoscopic 3D Reconstruction

Markus Moll, Hsiao-Wei Tang, Luc Van Gool
Katholieke Univesiteit Leuven, ESAT-PSI/IBBT, Department of Electrical Engeneering, Heverlee, Belgium
In Information Processing in Computer-Assisted Interventions, Vol. 6135 (2010), pp. 91-101-101.


   title={GPU-Accelerated Robotic Intra-operative Laparoscopic 3D Reconstruction},

   author={Moll, M. and Tang, H.W. and Van Gool, L.},

   journal={Information Processing in Computer-Assisted Interventions},





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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 sub-tasks, 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.
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