Abstract
Despite the benefits of minimally invasive surgery, interventions such as laparoscopic liver surgery present unique challenges, like the significant anatomical differences between preoperative images and intraoperative scenes due to pneumoperitoneum, patient pose, and organ manipulation by surgical instruments. To address these challenges, a method for intraoperative three-dimensional reconstruction of the surgical scene, including vessels and tumors, without altering the surgical workflow, is proposed. The technique combines neural radiance field reconstructions from tracked laparoscopic videos with ultrasound three-dimensional compounding. The accuracy of our reconstructions on a clinical laparoscopic liver ablation dataset, consisting of laparoscope and patient reference posed from optical tracking, laparoscopic and ultrasound videos, as well as preoperative and intraoperative computed tomographies, is evaluated. The authors propose a solution to compensate for liver deformations due to pressure applied during ultrasound acquisitions, improving the overall accuracy of the three-dimensional reconstructions compared to the ground truth intraoperative computed tomography with pneumoperitoneum. A unified neural radiance field from the ultrasound and laparoscope data, which allows real-time view synthesis providing surgeons with comprehensive intraoperative visual information for laparoscopic liver surgery, is trained.