GPU-Accelerated Robotic Intra-operative Laparoscopic 3D Reconstruction
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.
@article{moll2010gpu,
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},
pages={91–101},
year={2010},
publisher={Springer}
}
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.
November 16, 2010 by hgpu
