Zonal projection based on binocular structured light for localized luminance saturation of intraoperative liver surface

Long CHEN; Wen-Cong WANG; Feng-Feng ZHANG; Li-Ning SUN

doi:10.37188/OPE.20212911.2590

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Zonal projection based on binocular structured light for localized luminance saturation of intraoperative liver surface

Modern Applied Optics | 更新时间：2022-01-25

- Zonal projection based on binocular structured light for localized luminance saturation of intraoperative liver surface
- Optics and Precision Engineering Vol. 29, Issue 11, Pages: 2590-2602(2021)
- 作者机构：
  
  1.苏州大学机电工程学院，江苏苏州 215006
  2.苏州大学苏州纳米科技协同创新中心，江苏苏州 215123
- 作者简介：
- 基金信息：
- DOI：10.37188/OPE.20212911.2590
  CLC： R687.3;TP242
- Received：26 March 2021，
  
  Revised：11 May 2021，
  
  Published：15 November 2021
- 稿件说明：
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陈龙,王文聪,张峰峰等.基于双目结构光的术中肝脏表面局部亮度饱和分区投影[J].光学精密工程,2021,29(11):2590-2602.

CHEN Long,WANG Wen-Cong,ZHANG Feng-Feng,et al.Zonal projection based on binocular structured light for localized luminance saturation of intraoperative liver surface[J].Optics and Precision Engineering,2021,29(11):2590-2602.
陈龙,王文聪,张峰峰等.基于双目结构光的术中肝脏表面局部亮度饱和分区投影[J].光学精密工程,2021,29(11):2590-2602. DOI： 10.37188/OPE.20212911.2590.

CHEN Long,WANG Wen-Cong,ZHANG Feng-Feng,et al.Zonal projection based on binocular structured light for localized luminance saturation of intraoperative liver surface[J].Optics and Precision Engineering,2021,29(11):2590-2602. DOI： 10.37188/OPE.20212911.2590.

摘要

开放式肝脏肿瘤切除手术是治疗肝脏肿瘤的最有效方法，基于双目结构光的术中肝脏表面三维重建对肿瘤的精确定位起到至关重要的作用。但由于手术环境光照和双目相机采集图像的位置等因素，将造成相机拍摄的图像出现局部亮度饱和问题，进而导致肝脏表面三维重建缺失。为此，本文提出基于不同反射率区域分割投影算法制定的自适应最佳条纹光栅的方法来解决该问题。先建立肝脏表面光照的物理模型和双目系统下的肝脏表面光照示意图并分析肝脏表面局部亮度饱和的影响。接着，利用肝脏表面不同位置的反射率不同，进行区域划分，根据不同反射率的区域分割投影算法来计算自适应最佳条纹光栅的强度，实现肝脏表面的分区投射。然后，将左、右相机图像中的饱和点转换到投影仪投射的条纹图像中并通过局部亮度饱和实验来验证本文提出的方法对克服肝脏表面局部亮度饱和问题的有效性。最后，通过猪肝实验结果表明：采用本文提出的方法后，三种不同手术状态下因局部亮度饱和而导致猪肝三维重建表面的缺失比率分别从1.1%、2.9%和1.4%降至0%，并且猪肝表面三维重建精度达到0.75 mm。本文的方法基本可以满足医生提出的术中肝脏表面三维重建精度1 mm以内并且重建表面无缺失的要求。

Abstract

An open resection of liver tumors is the most effective method for their treatment. The intraoperative three-dimensional （3D） reconstruction of liver surface based on binocular structural light plays an important role in the accurate localization of liver tumors. However， due to factors such as illumination in the surgical environment and the location of images captured by the binocular camera， a local brightness saturation occurs in the captured images， leading to hindrance in the three-dimensional reconstruction of the liver surface. To solve this problem， an adaptive optimal fringe grating based on the segmentation projection algorithm of different reflectivity regions is proposed in this paper. First， a physical model and a sketch of illumination on the liver surface under binocular system were established， and the influence of local brightness saturation on the liver surface was analyzed. The region was then divided according to the different reflectivity of the liver surface. The intensity of the adaptive optimal fringe grating was calculated according to the region segmentation projection algorithm of different reflectivity， so as to achieve the partition projection of the liver surface. The saturation points of the left and right camera images were transferred to the streaks cast by the projector. The effectiveness of the proposed method to overcome the local brightness saturation of the liver surface was verified by the local brightness saturation experiment. Finally， the experimental results of porcine liver showed that the deletion rate of porcine liver 3D reconstruction surface decreased from 1.1%， 2.9%， and 1.4% to 0%， respectively， under three different operating conditions due to local brightness saturation， and the accuracy of porcine liver 3D reconstruction reached 0.75 mm. The method described in this paper can essentially meet the requirements of doctors， including the intraoperative 3D reconstruction accuracy of liver surface to be less than 1 mm with no defects in the reconstructed surface.

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references

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