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Minimally invasive procedures are of growing importance in modern surgery. Navigation and orientation are major issues during these interventions as conventional endoscopes only cover a limited field of view. We propose the application of a Time-of-Flight (ToF) satellite camera at the zenith of the pneumoperitoneum to survey the operation situs. Due to its limited field of view we propose a fusion of different 3-D views to reconstruct the situs using photometric and geometric information provided by the ToF sensor. We were able to reconstruct the entire abdomen with a mean absolute mesh-to-mesh error of less than 5 mm compared to CT ground truth data, at a frame rate of 3 Hz. The framework was evaluated on real data from a miniature ToF camera in an open surgery pig study and for quantitative evaluation with a realistic human phantom. With the proposed approach to operation situs reconstruction we improve the surgeons' orientation and navigation and therefore increase safety and speed up surgical interventions.

3-D Operation Situs Reconstruction with Time-of-Flight Satellite Cameras Using Photogeometric Data Fusion