3D Reconstruction of Tumors for Applications in Laparoscopy Using Conformal Geometric Algebra

This paper presents a method for 3D reconstruction of tumors for applications in laparoscopy. This uses stereo endoscopic ultrasound images, which are simultaneously recorded. To do this, the ultrasound probe is tracked throughout the stereo endoscopic images using a particle filter and an auxiliary method based on thresholding in the HSV-space is used in order to improve the tracking. Then, the 3D pose of the ultrasound probe is calculated using conformal geometric algebra. The 2D ultrasound images have been segmented using two methods: the level sets method and morphological operators, and a comparison between their performances has been done. Finally, the processed ultrasound images are compounded into a 3D volume, using the calculated ultrasound pose.