Intraoperative Fast 3D Shape Recovery of Abdominal Organs in Laparoscopy

Precise measurements of geometry should accompany robotic equipments in operating rooms if their advantages are further pursued. For deforming organs including the liver, intraoperative geometric measurements play an essential role in computer surgery in addition to preoperative geometric information from CT/MRI. The laser-scan endoscope system acquires and visualizes the shape of the area of interest in a flash of time in laparoscopy. Results of in-vivo experiments on the liver of a pig verify the effectiveness of the proposed system. This system offers surgeons high-speed 3D geometric visualization to provide an intuitive orientation under laparoscopic surgery.