GPU-accelerated robotic intra-operative laparoscopic 3D reconstruction

In this paper we present a real-time intra-operative reconstruction system for laparoscopic surgery. The system builds upon a surgical robot for laparoscopy that has previously been developed by us. Such a system is valuable for surgeons, who can get a three dimensional visualization of the scene online, without having to postprocess data. We gain a significant speed increase over existing such systems by carefully parallelizing tasks and using the GPU for computationally expensive subtasks, making real-time reconstruction and visualization possible. Our implementation is also robust with respect to outliers and can potentially be extended to be used with non-robotic surgery. We demonstrate the performance of our system on ex-vivo samples and compare it to alternative implementations. © Springer-Verlag 2010.Moll M., Tang H.-W., Van Gool L., ''GPU-accelerated robotic intra-operative laparoscopic 3D reconstruction'', Lecture notes in computer science, vol. 6135, pp. 91-101, 2010 (1st international conference on information processing in computer-assisted interventions - IPCAI 2010, June 23, 2010, Geneva, Switzerland).status: publishe