Validation of stereo vision based liver surface reconstruction for image guided surgery

Image guided surgery systems aim to provide navigation to surgeons in order to improve accuracy and safety of the procedures. Through stereo reconstruction algorithms, it is possible to generate 3D surfaces intra-operatively by means of a laparoscopic stereo-camera. This study aims to setup a simulation system and quantitatively validate a recent proposed reconstruction algorithm with application to laparoscopic liver resection surgery. The intra-operative surface will be used to guide model to patient registration. This will also improve accuracy of the navigation by correcting intra-operative deformations of the liver, such as those due to pneumoperitoneum. The accuracy results of the reconstruction method was found to be $3.7\pm 0.8$ mm in terms of Hausdorff distance. The validation therefore indicates the feasibility and accuracy of the surface reconstruction method.