MITI: SLAM Benchmark for Laparoscopic Surgery
We propose a new benchmark for evaluating stereoscopic visual-inertial computer vision algorithms (SLAM/ SfM/ 3D Reconstruction/ Visual-Inertial Odometry) for minimally invasive surgical (MIS) interventions in the abdomen. Our MITI Dataset available at [https://mediatum.ub.tum.de/1621941] provides all the necessary data by a complete recording of a handheld surgical intervention at Research Hospital Rechts der Isar of TUM. It contains multimodal sensor information from IMU, stereoscopic video, and infrared (IR) tracking as ground truth for evaluation. Furthermore, calibration for the stereoscope, accelerometer, magnetometer, the rigid transformations in the sensor setup, and time-offsets are available. We wisely chose a suitable intervention that contains very few cutting and tissue deformation and shows a full scan of the abdomen with a handheld camera such that it is ideal for testing SLAM algorithms. Intending to promote the progress of visual-inertial algorithms designed for MIS application, we hope that our clinical training dataset helps and enables researchers to enhance algorithms.
Code (0)
등록된 구현이 없습니다.
Tasks
3D ReconstructionMethods 이 논문이 사용한 방법론
Similar Papers 제목 키워드 기반
CholecSeg8k: A Semantic Segmentation Dataset for Laparoscopic Cholecystectomy Based on Cholec80
Computer-assisted surgery has been developed to enhance surgery correctness and safety. However, researchers and engineers suffer from limited annotated data to develop and train better algorithms. Consequently, the deve…
Semantic SegmentationSimultaneous Localization and MappingSLAM assisted 3D tracking system for laparoscopic surgery
A major limitation of minimally invasive surgery is the difficulty in accurately locating the internal anatomical structures of the target organ due to the lack of tactile feedback and transparency. Augmented reality (AR…
Augmented Reality for Depth Cues in Monocular Minimally Invasive Surgery
One of the major challenges in Minimally Invasive Surgery (MIS) such as laparoscopy is the lack of depth perception. In recent years, laparoscopic scene tracking and surface reconstruction has been a focus of investigati…
Simultaneous Localization and MappingSurface ReconstructionLSD3K: A Benchmark for Smoke Removal from Laparoscopic Surgery Images
Smoke generated by surgical instruments during laparoscopic surgery can obscure the visual field, impairing surgeons' ability to perform operations accurately and safely. Thus, smoke removal task for laparoscopic images …
Dataset GenerationRobotic Constrained Imitation Learning for the Peg Transfer Task in Fundamentals of Laparoscopic Surgery
In this study, we present an implementation strategy for a robot that performs peg transfer tasks in Fundamentals of Laparoscopic Surgery (FLS) via imitation learning, aimed at the development of an autonomous robot for …
Imitation Learning