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A variable baseline stereoscopic camera with fast deployable structure for natural orifice transluminal endoscopic surgery

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Stereo vision can provide surgeons with 3D images and reduce the difficulty of operation in robot-assisted surgery. In natural orifice transluminal endoscopic surgery, distortions of the stereoscopic images could be induced at different observation depths. This would increase the risk of surgery. We proposed a novel camera to solve this problem.

Methods

This study integrated the camera calibration matrix and the geometric model of stereoscopic system to find the cause of distortion. It was found that image distortions were caused by inappropriate disparity, and this could be avoided by changing the camera baseline. We found the relationship between camera baseline and observation depth with the model. A variable baseline stereoscopic camera with deployable structure was designed to achieve this requirement. The baseline could be adjusted to provide appropriate disparity.

Results

Three controlled experiments were conducted to verify the stereo vision of the proposed camera at different observation depths. No significant difference was observed in the completion time. At the observation depths of 30 mm and 90 mm, the number of errors apparently decreased by 62.90% and 51.06%, respectively.

Conclusions

The significant decrease in number of errors shows that the proposed camera has a better stereo vision than a regular camera at both small and large observation depths. It can produce more accurate stereoscopic images at any depth. This will further improve the safety of robot-assisted surgery.

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Acknowledgements

This research was supported by the National Key R&D Program of China (Grant No. 2017YFC0110401), the National Natural Science Foundation of China (Grant No. 51805362).

Funding

This research was supported by the National Key R&D Program of China (Grant No. 2017YFC0110401), the National Natural Science Foundation of China (Grant No. 51805362).

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Authors and Affiliations

  1. Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, 135 Yaguan Road, Tianjin, 300350, China

    Xinan Sun, He Su, Jinhua Li & Shuxin Wang

  2. School of Mechanical Engineering, Tianjin University, 135 Yaguan Road, Jinnan District, Tianjin, 300350, China

    Xinan Sun, He Su, Jinhua Li & Shuxin Wang

Authors
  1. Xinan Sun
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  2. He Su
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  3. Jinhua Li
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Correspondence to He Su.

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All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Declaration of Helsinki and its later amendments or comparable ethical standards.

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Sun, X., Su, H., Li, J. et al. A variable baseline stereoscopic camera with fast deployable structure for natural orifice transluminal endoscopic surgery. Int J CARS 17, 27–39 (2022). https://doi.org/10.1007/s11548-021-02509-8

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  • DOI: https://doi.org/10.1007/s11548-021-02509-8

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