ArticleInternational journal of computer assisted radiology and surgery2023
Comparative evaluation of three commercially available markerless depth sensors for close-range use in surgical simulation.
Article in International journal of computer assisted radiology and surgery, 2023. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- RGB-D Cameras and Brain-Computer Interfaces for Human Activity Recognition: An Overview.Sensors (Basel, Switzerland) · 2025Review
- Benchmarking commercial depth sensors for intraoperative markerless registration in neurosurgery applications.International journal of computer assisted radiology and surgery · 2025Article
- Improving 3D Reconstruction Through RGB-D Sensor Noise Modeling.Sensors (Basel, Switzerland) · 2025Article
- Experimental Setup for Evaluating Depth Sensors in Augmented Reality Technologies Used in Medical Devices.Sensors (Basel, Switzerland) · 2024Article
- Teachers should apply the principle of reduction for more sustainable surgical simulation practice: the example of training pharyngolaryngeal surgery in a porcine model.Frontiers in medicine · 2023Article
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Authors and funding
9 authors.
Funding
Abstract
purposeMinimally invasive surgeries have restricted surgical ports, demanding a high skill level from the surgeon. Surgical simulation potentially reduces this steep learning curve and additionally provides quantitative feedback. Markerless depth sensors show great promise for quantification, but most such sensors are not designed for accurate reconstruction of complex anatomical forms in close-range.
methodsThis work compares three commercially available depth sensors, namely the Intel D405, D415, and the Stereolabs Zed-Mini in the range of 12-20 cm, for use in surgical simulation. Three environments are designed that closely mimic surgical simulation, comprising planar surfaces, rigid objects, and mitral valve models of silicone and realistic porcine tissue. The cameras are evaluated on Z-accuracy, temporal noise, fill rate, checker distance, point cloud comparisons, and visual inspection of surgical scenes, across several camera settings.
resultsThe Intel cameras show sub-mm accuracy in most static environments. The D415 fails in reconstructing valve models, while the Zed-Mini provides lesser temporal noise and higher fill rate. The D405 could reconstruct anatomical structures like the mitral valve leaflet and a ring prosthesis, but performs poorly for reflective surfaces like surgical tools and thin structures like sutures.
conclusionIf a high temporal resolution is needed and lower spatial resolution is acceptable, the Zed-Mini is the best choice, whereas the Intel D405 is the most suited for close-range applications. The D405 shows potential for applications like deformable registration of surfaces, but is not yet suitable for applications like real-time tool tracking or surgical skill assessment.
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