3-D and 2-D reconstruction of bladders for the assessment of inter-session detection of tissue changes: a proof of concept.

Autor: Groenhuis V; Robotics and Mechatronics, University of Twente, Drienerlolaan 5, 7522 NB, Enschede, The Netherlands. v.groenhuis@utwente.nl., de Groot AG; Robotics and Mechatronics, University of Twente, Drienerlolaan 5, 7522 NB, Enschede, The Netherlands., Cornel EB; Department of Urology, Ziekenhuisgroep Twente (ZGT), Zilvermeeuw 1, 7609 PP, Almelo, The Netherlands., Stramigioli S; Robotics and Mechatronics, University of Twente, Drienerlolaan 5, 7522 NB, Enschede, The Netherlands., Siepel FJ; Robotics and Mechatronics, University of Twente, Drienerlolaan 5, 7522 NB, Enschede, The Netherlands.
Jazyk: angličtina
Zdroj: International journal of computer assisted radiology and surgery [Int J Comput Assist Radiol Surg] 2023 Oct; Vol. 18 (10), pp. 1915-1924. Date of Electronic Publication: 2023 Apr 21.
DOI: 10.1007/s11548-023-02900-7
Abstrakt: Purpose: Abnormalities in the bladder wall require careful investigation regarding type, spatial position and invasiveness. Construction of a 3-D model of the bladder is helpful to ensure adequate coverage of the scanning procedure, quantitative comparison of bladder wall textures between successive sessions and finding back previously discovered abnormalities.
Methods: Videos of both an in vivo bladder and a textured bladder phantom were acquired. Structure-from-motion and bundle adjustment algorithms were used to construct a 3-D point cloud, approximate it by a surface mesh, texture it with the back-projected camera frames and draw the corresponding 2-D atlas. Reconstructions of successive sessions were compared; those of the bladder phantom were co-registered, transformed using 3-D thin plate splines and post-processed to highlight significant changes in texture.
Results: The reconstruction algorithms of the presented workflow were able to construct 3-D models and corresponding 2-D atlas of both the in vivo bladder and the bladder phantom. For the in vivo bladder the portion of the reconstructed surface area was 58% and 79% for the pre- and post-operative scan, respectively. For the bladder phantom the full surface was reconstructed and the mean reprojection error was 0.081 mm (range 0-0.79 mm). In inter-session comparison the changes in texture were correctly indicated for all six locations.
Conclusion: The proposed proof of concept was able to perform 3-D and 2-D reconstruction of an in vivo bladder wall based on a set of monocular images. In a phantom study the computer vision algorithms were also effective in co-registering reconstructions of successive sessions and highlighting texture changes between sessions. These techniques may be useful for detecting, monitoring and revisiting suspicious lesions.
(© 2023. The Author(s).)
Databáze: MEDLINE