A method for going from 2D laparoscope to 3D acquisition of surface landmarks by a novel computer vision approach

Marc Garbey, Toan B. Nguyen, Albert Y. Huang, Vid Fikfak, Brian J. Dunkin

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


Purpose: This paper presents a method to use the Smart Trocars—our new surgical instrument recognition system—or any accurate localization system of surgical instrument for acquiring intraoperative surface data. Complex laparoscopic surgeries need a proper guidance system which requires registering the preoperative data from a CT or MRI scan to the intraoperative patient state. The Smart Trocar can be used to localize the instruments when it comes to contact with the soft tissue surface. Method: Two successive views through the laparoscope at different angles with the 3D localization of a fixed tool at one single location using the Smart Trocars can point out visible features during the surgery and acquire their location in 3D to provide a depth map in the region of interest. In other words, our method transforms a standard laparoscope system into a system with three-dimensional registration capability. Result: This method was initially tested on a simulation for uncertainty assessment and then on a rigid model for verification with an accuracy within 2 mm distance. In addition, an in vivo experiment on pig model was also conducted to investigate how the method might be used during a physiologic respiratory cycle. Conclusion: This method can be applied in a large number of surgical applications as a guidance system on its own or in conjunction with other navigation techniques. Our work encourages further testing with realistic surgical applications in the near future.

Original languageEnglish (US)
Pages (from-to)267-280
Number of pages14
JournalInternational Journal of Computer Assisted Radiology and Surgery
Issue number2
StatePublished - Feb 1 2018


  • Laparoscopic surgery
  • Laparoscopic surgery trainer box
  • Smart Trocar
  • Surface imaging
  • Surgery guidance system

ASJC Scopus subject areas

  • Surgery
  • Biomedical Engineering
  • Radiology Nuclear Medicine and imaging
  • Computer Vision and Pattern Recognition
  • Computer Science Applications
  • Health Informatics
  • Computer Graphics and Computer-Aided Design


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