Real-time deformable SLAM with geometrically adapted template for dynamic monocular laparoscopic scenes

Xuanshuang Tang, Haisu Tao, Yinling Qian, Jian Yang, Ziliang Feng, Qiong Wang

Abstract: Intraoperative reconstruction of endoscopic scenes is a key technology for surgical navigation systems. The accuracy and efficiency of 3D reconstruction directly determine the effectiveness of navigation systems in a variety of clinical applications. While current deformable SLAM algorithms can meet real-time requirements, their underlying reliance on regular templates still makes it challenging to efficiently capture abrupt geometric features within scenes, such as organ contours and surgical margins.