Time-of-Flight 3-D Endoscopy

Abstract. This paper describes the first accomplishment of the Timeof-Flight (ToF) measurement principle via endoscope optics. The applicability of the approach is verified by in-vitro experiments. Off-the-shelf ToF camera sensors enable the per-pixel, on-chip, real-time, marker-less acquisition of distance information. The transfer of the emerging ToF measurement technique to endoscope optics is the basis for a new generation of ToF rigid or flexible 3-D endoscopes. No modification of the endoscope optic itself is necessary as only an enhancement of illumination unit and image sensors is necessary. The major contribution of this paper is threefold: First, the accomplishment of the ToF measurement principle via endoscope optics; second, the development and validation of a complete calibration and post-processing routine; third, accomplishment of extensive in-vitro experiments. Currently, a depth measurement precision of 0.89 mm at 20 fps with 3072 3-D points is achieved.

• Type: Conference
• Year: 2009
• Where: MICCAI
• Authors: Jochen Penne, Kurt Höller, Michael Stürmer, Thomas Schrauder, Armin Schneider, Rainer Engelbrecht, Hubertus Feußner, Bernhard Schmauss, Joachim Hornegger
• Keywords: Endoscope Optics, Medical Imaging, MICCAI 2009, ToF Measurement Principle, ToF Measurement Technique