ArticleMedical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
EMDQ-SLAM: Real-time High-resolution Reconstruction of Soft Tissue Surface from Stereo Laparoscopy Videos.
Article in Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed.
- DyEndoVO: scene dynamics-aware pose estimation of endoscope in minimally invasive surgery.International journal of computer assisted radiology and surgery · 2026Article
- The era of autonomous surgical robotics in thoracic surgery: is it coming?International journal of surgery (London, England) · 2026Article
- Robot-Based Procedure for 3D Reconstruction of Abdominal Organs Using the Iterative Closest Point and Pose Graph Algorithms.Journal of imaging · 2025Article
- Intraoperative patient-specific volumetric reconstruction and 3D visualization for laparoscopic liver surgery.Healthcare technology letters · 2024Article
- Image-Based 3D Reconstruction in Laparoscopy: A Review Focusing on the Quantitative Evaluation by Applying the Reconstruction Error.Journal of imaging · 2024Review
- MSDESIS: Multitask Stereo Disparity Estimation and Surgical Instrument Segmentation.IEEE transactions on medical imaging · 2022Article
- Acquiring Aligned Endoscopic and Depth Image Pairs Using Structured-Light Projection, Neural Surfaces and an Electromagnetic Positional Sensor.Healthcare technology lettersArticle
- Incremental shape integration with inter-frame shape consistency using neural SDF for a 3D endoscopic system.Healthcare technology lettersArticle
- Calibration-free structured-light-based 3D scanning system in laparoscope for robotic surgery.Healthcare technology lettersArticle
Corrections and comments
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Authors and funding
2 authors.
Funding
Abstract
We propose a novel stereo laparoscopy video-based non-rigid SLAM method called EMDQ-SLAM, which can incrementally reconstruct thee-dimensional (3D) models of soft tissue surfaces in real-time and preserve high-resolution color textures. EMDQ-SLAM uses the expectation maximization and dual quaternion (EMDQ) algorithm combined with SURF features to track the camera motion and estimate tissue deformation between video frames. To overcome the problem of accumulative errors over time, we have integrated a g2o-based graph optimization method that combines the EMDQ mismatch removal and as-rigid-as-possible (ARAP) smoothing methods. Finally, the multi-band blending (MBB) algorithm has been used to obtain high resolution color textures with real-time performance. Experimental results demonstrate that our method outperforms two state-of-the-art non-rigid SLAM methods: MISSLAM and DefSLAM. Quantitative evaluation shows an average error in the range of 0.8-2.2 mm for different cases.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.