Incorporation of 3D model and panoramic view for gastroscopic lesion surveillance

Abstract

Natural Orifice Transluminal Endoscopic Surgery (NOTES) is widely used for clinical diagnoses. However, NOTES has two main problems: difficulties brought by endoscope’s flexibility and narrow view of endoscope. Image-guided system is helpful to deal with these problems. In our previous work, a computer aided endoscopic navigation system (CAEN) was developed for gastroscopic lesion surveillance. In this paper, 3D model and panoramic view are incorporated into CAEN with three improvements: selection of reference and tracking features; perspective projection for constructing local and global panoramic view; 3D surface modeling using structure from motion. The system is evaluated from three clinic applications: broadening the view, non-invasive retargeting, and overall lesion locations. The evaluation results show that the mean accuracy of broadening the view is 0.43 mm, the mean accuracy of non-invasive retargeting is 7.5 mm, and the mean accuracy for overall lesion diagnosis is 3.71 ± 0.35 mm.