ArticleProceedings of SPIE--the International Society for Optical Engineering2025
Kidney Endoscopy Video to Preoperative CT Alignment for Depth Estimation.
Article in Proceedings of SPIE--the International Society for Optical Engineering, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 2 papers.
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The trial behind it
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Who cites it
2 citing papers in PubMed.
- Perseus: perception with semantic endoscopic understanding and SLAM.International journal of computer assisted radiology and surgery · 2026Article
- Monocular absolute depth estimation from endoscopy via domain-invariant feature learning and latent consistency.Proceedings of SPIE--the International Society for Optical Engineering · 2026Article
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Authors and funding
5 authors.
Funding
Abstract
Monocular depth estimation from kidney endoscopy optimally requires ground truth depth information for endoscopy videos in order to train a neural network. Kidney endoscopy is not compatible with real-time tracking of the scope tip via, e.g., optical trackers, which makes it difficult to directly obtain such depth information. To address this problem, we propose a pipeline to reconstruct a 3D point cloud from the endoscopy video, which we register to a segmentation obtained from the preoperative CT image. We then use the estimated camera poses from the reconstruction and the segmentation surface geometry from preoperative CT to create synthetic endoscopy frames and accurate depth information. We validate this method on kidney phantoms with sub-millimeter RMSE accuracy (0.61 ± 0.08 mm) and demonstrate it on real patient data (0.86 mm).
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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.