Content 立體影像簡介. Display Week 3D 醫學影像模型與擴增實境應用 單鏡頭內視鏡影像 2D 轉 3D 技術 微創手術輔助視覺機器人

Transcription

1 立體影像於醫學之應用 劉楷哲

2 Content 立體影像簡介 Display Week 3D 醫學影像模型與擴增實境應用 單鏡頭內視鏡影像 2D 轉 3D 技術 微創手術輔助視覺機器人

3 視差與立體感 3D 立體顯示原理與技術 Ref. Sony & 交通大學黃乙白教授

4 3D 影像顯示技術的分類

5 快門眼鏡技術原理 戴眼鏡式技術原理 偏光眼鏡技術原理

6 裸眼式空間多工式技術原理 可切換 2D/3D 視差光柵顯示器 可切換 2D/3D 柱狀透鏡顯示器

7 裸眼式多視角立體影像 Ref. Philip

8 3D 影像格式 立體轉化影片 (anaglyph) 交錯格式影片 (interlaced) 雙重疊影影片 (side by side, over/under) Ref. iz3d

9 2D+Depth 3D 影像格式 2D image and its depth map, lighter depth map areas are regarded as closer to a viewer Ref. Philips

10 3D 內容拍攝方式 雙鏡頭 多重相機

11 多重相機三維模型建立 time Multi-view modeling Meshing Multi-view texturing 4DCap: Multi-View Dynamic 3D Object Reconstruction System, ICAT 2008(International Conference on Artificial Reality and Telexistence)

12 Display Week

13 Face-to to-face Communication

14 3D Glasses (RealD( RealD)

15 Samsung Transparent LCD

16 Samsung 3D Display Glass 3D Glassless 3D

17 Samsung Next Gen. 3DTV Hz UD 3DTV

18 Samsung 3D Pico-Projector Projector

19 TOSHIBA Glasses-free 3D 8 800x480 pixels 3 400x240 pixels

20 LG 0.8mm Narrow Bezel FPR 3D

21 Holograms

22 HITACHI

23 3D 醫學影像模型與擴增實境應用

24 Historical View of Surgery Open Laparoscopic Single Port Transluminal Cholecystectomy Cholecystectomy Cholecystectomy Cholecystectomy Viewing on 2D display for surgery

25 Endoscope Imaging System 1920x1080, 60Hz Endoscope = Surgeon's Eye

26 Computer and Robot Assisted Surgery CT/MRI/PET/US 3D Modeling Robotic Surgery Computer Assisted Analysis Surgical Planning 3D Vision Augmented Reality Surgical Simulation

27 VR-Render Render 3D Patient Free on > 8000 users, 25 clinical cases

28 Surgical Planning Virtual navigation Virtual surgical tool positioning Virtual organ resection Volume computations

29 Augmented Reality Augmented Reality Views Out In Data Fusion

30 Current limit : organ deformation Non Reproducible Patient Positioning between CT-scan and OP-room Too important modification

31 Current limit : organ deformation Modification of markers position and organ shape due to Gaz insuflation Too important modification

32 Augmented Reality for NOTES 8 x 5 DOF Electromagnetic sensor coils in a flexible tube of max 2.5 mm Ø The system provides : -Distance between 2 selected positions - 3D Shape of the flexible tube in real-time

33 單鏡頭內視鏡 2D 轉 3D 技術

34 Introduction: Monoscopic view Difficult to accurately place the surgical instruments in the three dimensional real space of the patient. The surgeon must rely on motion parallax, monocular cues, and other indirect evidence of depth Stereoscopic video can return accuracy to the surgeon.

35 3D Vision: 2D to 3D Conversion ShowChwan Hospital 2D Display 2D to 3D 2D Endoscope 2D Display 2D to 3D Depth Reconstruction Depth 3D Display (1) 3D Imaging from 2D Scope (2) Increasing Surgical Quality (3) Improvement in Safety, Precision, and Speed of Procedures (4) Lower Learning Curve (5) 2D+Depth format for on-line depth perception adjustment

36 Competitions Competition (expensive, new device, fixed depth perception) 123.avi Olympus

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38 Modification Method Overview Transverse image of CT abdomen Reconstructed 3D virtual model Virtual model rendered image Registration Depth map of registered virtual image Stereo image synthesis Registered virtual image Laparoscopy video image Stereoscopic image visualization

39 微創手術輔助視覺機器人

40 Robotic Surgery ZEUS and Da vinci Da Vinci S

41 History of Surgical Robot RAVEN Computer Motion AESOP (Automated Endoscopic System for Optimal Positioning) MIRO Intuitive Surgical

42 Why is it difficult to control endoscope? Left of the patient Right of the patient rotation

43 Longue Distance TeleSurgery Lindbergh Surgery : September the 7 th 2001 New-York Strasbourg

44 Thank you very much ~~~