Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Kinect Range Sensing: Structured-Light versus Time-of-Flight Kinect

Recently, the new Kinect One has been issued by Microsoft, providing the next generation of real-time range sensing devices based on the Time-of-Flight (ToF) principle. As the first Kinect version was using a structured light approach, one would expect various differences in the characteristics of the range data delivered by both devices. This paper presents a detailed and in-depth comparison between both devices. In order to conduct the comparison, we propose a framework of seven different experimental setups, which is a generic basis for evaluating range cameras such as Kinect. The experiments have been designed with the goal to capture individual effects of the Kinect devices as isolatedly as possible and in a way, that they can also be adopted, in order to apply them to any other range sensing device. The overall goal of this paper is to provide a solid insight into the pros and cons of either device. Thus, scientists that are interested in using Kinect range sensing cameras in their specific application scenario can directly assess the expected, specific benefits and potential problem of either device.Comment: 58 pages, 23 figures. Accepted for publication in Computer Vision and Image Understanding (CVIU

Nanoscale electrical conductivity imaging using a nitrogen-vacancy center in diamond

The electrical conductivity of a material can feature subtle, nontrivial, and spatially-varying signatures with critical insight into the material's underlying physics. Here we demonstrate a conductivity imaging technique based on the atom-sized nitrogen-vacancy (NV) defect in diamond that offers local, quantitative, and noninvasive conductivity imaging with nanoscale spatial resolution. We monitor the spin relaxation rate of a single NV center in a scanning probe geometry to quantitatively image the magnetic fluctuations produced by thermal electron motion in nanopatterned metallic conductors. We achieve 40-nm scale spatial resolution of the conductivity and realize a 25-fold increase in imaging speed by implementing spin-to-charge conversion readout of a shallow NV center. NV-based conductivity imaging can probe condensed-matter systems in a new regime, and as a model example, we project readily achievable imaging of nanoscale phase separation in complex oxides.Comment: Supplementary information at en

3D SCINTILLATOR DETECTOR QUENCHING CHARACTERIZATION FOR SCANNING PROTON BEAMS

Proton pencil beam scanning is becoming the standard treatment delivery technique for proton therapy centers. Scanned proton pencil beams provide a highly conformal dose distribution. The complex dose distribution poses challenges for quality assurance measurements leading to sophisticated detector setups and time consuming measurements. Fast 3D measurements are therefore desirable to verify the complex dose distribution and to enable the utilization of the full potential of proton therapy. The overall objective of this project is to improve volumetric scintillators detectors to provide 3D measurements for applications for beam commissioning, quality assurance program, and patient-specific treatment delivery verification. Detectors based on volumetric scintillators are gaining interest for use in proton therapy because they promise fast and high-resolution proton beam measurements. However, the scintillators’ response depends on the ionization density of the incident radiation, termed ionization quenching. For protons and other heavy charged particles, the ionization density, which is quantified as the linear energy transfer (LET), varies as a function of depth. Therefore, quenching introduces a non-linear response to the absorbed dose of proton beams. To fully utilize volumetric scintillator detectors for dose verification, ionization quenching correction factors are needed. Previous studies have shown the feasibility of using multiple cameras to image volumetric scintillators for obtaining real-time measurements, and 3D information. Furthermore, ionization quenching correction models based on the widely used Birks’ equation was shown to have lower dose accuracy at the Bragg peak for low-energy beams. The purpose of this study is to accurately determine the ionization quenching correction factors and to characterize a novel 3D scintillator detector for scanned proton beams. The 3D scintillator detector consisted of a liquid scintillator filled tank imaged by three identical sCMOS cameras. The system exhibited a high spatial (0.20 mm) and temporal resolution (10 ms). It was capable of capturing and verifying the range of all the 94 beam energies delivered by the synchrotron with sub-millimeter accuracy. The use of multiple orthogonally positioned cameras allows for detecting the precise locations of delivered beams in 3D. The beam images captured by the detector were synchronized with synchrotron beam delivery trigger signals. The developed image acquisition technique demonstrates the capability of the detector to capture single spots with a reproducible accuracy of 2%. Ionization quenching correction factors were used to correct the response of scintillators for dose linearity. The EDSE scintillation model was explored which relates the scintillation light emission to the energy deposition by secondary electrons. This project explored key improvements necessary for volumetric scintillator-based detector and demonstrated the capabilities of a novel 3D scintillator detector as a potential comprehensive quality assurance tool and for patient treatment verification detector for spot scanning proton therapy

Integrative IRT for documentation and interpretation of archaeological structures

The documentation of built heritage involves tangible and intangible features. Several morphological and metric aspects of architectural structures are acquired throughout a massive data capture system, such as the Terrestrial Laser Scanner (TLS) and the Structure from Motion (SfM) technique. They produce models that give information about the skin of architectural organism. Infrared Thermography (IRT) is one of the techniques used to investigate what is beyond the external layer. This technology is particularly significant in the diagnostics and conservation of the built heritage. In archaeology, the integration of data acquired through different sensors improves the analysis and the interpretation of findings that are incomplete or transformed. Starting from a topographic and photogrammetric survey, the procedure here proposed aims to combine the bidimensional IRT data together with the 3D point cloud. This system helps to overcome the Field of View (FoV) of each IRT image and provides a three-dimensional reading of the thermal behaviour of the object. This approach is based on the geometric constraints of the pair of RGB-IR images coming from two different sensors mounted inside a bi-camera commercial device. Knowing the approximate distance between the two sensors, and making the necessary simplifications allowed by the low resolution of the thermal sensor, we projected the colour of the IR images to the RGB point cloud. The procedure was applied is the so-called Nymphaeum of Egeria, an archaeological structure in the Caffarella Park (Rome, Italy), which is currently part of the Appia Antica Regional Park

A New Sensor System for Accurate 3D Surface Measurements and Modeling of Underwater Objects

Featured Application A potential application of the work is the underwater 3D inspection of industrial structures, such as oil and gas pipelines, offshore wind turbine foundations, or anchor chains. Abstract A new underwater 3D scanning device based on structured illumination and designed for continuous capture of object data in motion for deep sea inspection applications is introduced. The sensor permanently captures 3D data of the inspected surface and generates a 3D surface model in real time. Sensor velocities up to 0.7 m/s are directly compensated while capturing camera images for the 3D reconstruction pipeline. The accuracy results of static measurements of special specimens in a water basin with clear water show the high accuracy potential of the scanner in the sub-millimeter range. Measurement examples with a moving sensor show the significance of the proposed motion compensation and the ability to generate a 3D model by merging individual scans. Future application tests in offshore environments will show the practical potential of the sensor for the desired inspection tasks