| 研究実績の概要 |
This research focused on the realization of a novel multi-camera system for Minimally Invasive Surgery (MIS). MIS refers to medical procedures that are less invasive than traditional open surgery and that employ the use of endoscopic instruments and cameras.
To improve the experience of surgeons and outcome of the surgery, researchers have been exploring the use of multi-camera system which can provide extended view and 3D information of the anatomical area of interest. However, most of the developed system focused on the visualization of the area on the tip of the surgical instrument. Hence, perforation of healthy tissues or undesired brushing may occur. To cope with these problems, this research proposed a novel surgical instrument, which embeds multiple fisheye cameras, accompanied by an image processing algorithm to visualize the adjacent area from different angles.
Each camera module is composed by a couple of fish-eye cameras that can rotate and translate to fixed known positions changing the relative distance and angle between them. The image processing algorithm, implemented using OpevCV, stitches the camera images together creating an extended view shown to the clinician in real-time. When there aren't enough overlapping features between the images the stitching algorithm fails and the images are shown separately providing a view of the area around the instrument.
The proposed system is versatile: it can be used for different surgical operations, and it can also be adapted for other applications dealing with narrow space exploration requiring a broad view.
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