Three dimensional point cloud hole repairing strategy for binocular stereo reconstruction

摘要

Robotic-assisted minimally invasive surgery (RMIS) has attracted the attention of the surgeon and patient with high precision, minimizing trauma, dexterity and fast recovery time. The three-dimensional reconstruction of tissue structure and morphology during operation is an important prerequisite to guide the operation accurately and safely. However, hole problem still exists in the reconstruction process that will affect the accuracy and effectiveness of the surgery procedure. To address this problem, the paper presents a new hole repair method based on spatial surface scatter interpolation for 3D tissue reconstruction. In order to better close to the real structure, we have retained the surrounding concave-convex in the three-dimensional reconstruction, meanwhile, compared with the existing Delaunay triangulation method. The results indicate the proposed method can achieve better repair effects for various holes, with more smooth merits.