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A Review of 3D Reconstruction Techniques for Deformable Tissues in Robotic Surgery

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Medical Image Computing and Computer Assisted Intervention – MICCAI 2024 Workshops (MICCAI 2024)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 15274))

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Abstract

As a crucial and intricate task in robotic minimally invasive surgery, reconstructing surgical scenes using stereo or monocular endoscopic video holds immense potential for clinical applications. NeRF-based techniques have recently garnered attention for the ability to reconstruct scenes implicitly. On the other hand, Gaussian splatting-based 3D-GS represents scenes explicitly using 3D Gaussians and projects them onto a 2D plane as a replacement for the complex volume rendering in NeRF. However, these methods face challenges regarding surgical scene reconstruction, such as slow inference, dynamic scenes, and surgical tool occlusion. This work explores and reviews state-of-the-art (SOTA) approaches, discussing their innovations and implementation principles. Furthermore, we replicate the models and conduct testing and evaluation on two datasets. The test results demonstrate that with advancements in these techniques, achieving real-time, high-quality reconstructions becomes feasible. The code is available at: https://github.com/Epsilon404/ surgicalnerf.

M. Xu and Z. Guo—Contributed equally to this work.

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Acknowledgments

This work was supported by Hong Kong RGC CRF C4026-21G, RIF R4020-22, GRF 14211420 & 14203323, Shenzhen-Hong Kong-Macau Technology Research Programme (Type C) STIC Grant SGDX20210823103535014 (202108233000303) and the Key Project 2021B1515120035 (B.02.21.00101) of the Regional Joint Fund Project of the Basic and Applied Research Fund of Guangdong Province.

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Authors and Affiliations

  1. Department of Electronic Engineering, The Chinese University of Hong Kong (CUHK), Sha Tin, Hong Kong SAR, China

    Mengya Xu, Ziqi Guo, An Wang, Long Bai & Hongliang Ren

  2. CUHK Shenzhen Research Institute, Shenzhen, China

    Mengya Xu, Long Bai & Hongliang Ren

  3. Department of Biomedical Engineering, National University of Singapore, Singapore, Singapore

    Hongliang Ren

Authors
  1. Mengya Xu
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  2. Ziqi Guo
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  3. An Wang
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  4. Long Bai
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  5. Hongliang Ren
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Corresponding author

Correspondence to Hongliang Ren .

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Editors and Affiliations

  1. Department of Computer Science, University of Central Arkansas, Conway, AR, USA

    M. Emre Celebi

  2. University of Bern, Bern, Switzerland

    Mauricio Reyes

  3. Centre for Artificial Intelligence and Robotics (CAIR), Hong Kong Institute of Science & Innovation, Chinese Academy of Sciences, Shatin, Hong Kong

    Zhen Chen

  4. University of British Columbia, Vancouver, BC, Canada

    Xiaoxiao Li

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Xu, M., Guo, Z., Wang, A., Bai, L., Ren, H. (2025). A Review of 3D Reconstruction Techniques for Deformable Tissues in Robotic Surgery. In: Celebi, M.E., Reyes, M., Chen, Z., Li, X. (eds) Medical Image Computing and Computer Assisted Intervention – MICCAI 2024 Workshops. MICCAI 2024. Lecture Notes in Computer Science, vol 15274. Springer, Cham. https://doi.org/10.1007/978-3-031-77610-6_15

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  • DOI: https://doi.org/10.1007/978-3-031-77610-6_15

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  • Online ISBN: 978-3-031-77610-6

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