To support minimally-invasive intraoperative mitral valve repair, quantitative measurements from the valve can be obtained using an infra-red tracked stylus. It is desirable to view such manually measured points together with the endoscopic image for further assistance. Therefore, hand-eye calibration is required that links both coordinate systems and is a prerequisite to project the points onto the image plane. A complementary approach to this is to use a vision-based endoscopic stereo-setup to detect and triangulate points of interest, to obtain the 3D coordinates. In this paper, we aim to compare both approaches on a rigid phantom and two patient-individual silicone replica which resemble the intraoperative scenario. The preliminary results indicate that 3D landmark estimation, either labeled manually or through partly automated detection with a deep learning approach, provides more accurate triangulated depth measurements when performed with a tailored image-based method than with stylus measurements.
翻译:为了支持最小侵入的内操作短膜阀门修理,可以使用红外跟踪跟踪的顶柱从阀门中进行定量测量,最好将这些人工测量的点与内皮图象一起查看,以获得进一步协助。因此,需要手眼校准,将两个协调系统连接起来,作为将点投射到图像平面上的一个先决条件。对此,一个补充办法是使用基于视像的内侧立体立体设置来探测和三角感兴趣的点,以获得3D坐标。在本文中,我们的目标是比较僵硬的象牙和两个类似内操作情景的病人-个人硅酮复制物。初步结果显示,3D标志性估计,无论是以人工标记,还是以部分自动检测方式,以深层学习方式,在使用定制的基于图像的方法进行时,提供更准确的三角深度测量。