Feasibility of obtaining quantitative 3-dimensional information using conventional endoscope: A pilot study

Jong Jin Hyun, Hoon-Jai Chun, Bora Keum, Yeon Seok Seo, Yong Sik Kim, Yoon Tae Jeen, Hong Sik Lee, Soon-Ho Um, Chang Duck Kim, Ho Sang Ryu, Jong Wook Lim, Dong Gi Woo, Young Joong Kim, Myo Taeg Lim

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

Background/Aims: Three-dimensional (3D) imaging is gaining popularity and has been partly adopted in laparoscopic surgery or robotic surgery but has not been applied to gastrointestinal endoscopy. As a first step, we conducted an experiment to evaluate whether images obtained by conventional gastrointestinal endoscopy could be used to acquire quantitative 3D information. Methods: Two endoscopes (GIF-H260) were used in a Borrmann type I tumor model made of clay. The endoscopes were calibrated by correcting the barrel distortion and perspective distortion. Obtained images were converted to gray-level image, and the characteristics of the images were obtained by edge detection. Finally, data on 3D parameters were measured by using epipolar geometry, two view geometry, and pinhole camera model. Results: The focal length (f) of endoscope at 30 mm was 258.49 pixels. Two endoscopes were fixed at predetermined distance, 12 mm (d12). After matching and calculating disparity (v2-v1), which was 106 pixels, the calculated length between the camera and object (L) was 29.26 mm. The height of the object projected onto the image (h) was then applied to the pinhole camera model, and the result of H (height and width) was 38.21 mm and 41.72 mm, respectively. Measurements were conducted from 2 different locations. The measurement errors ranged from 2.98% to 7.00% with the current Borrmann type I tumor model. Conclusions: It was feasible to obtain parameters necessary for 3D analysis and to apply the data to epipolar geometry with conventional gastrointestinal endoscope to calculate the size of an object.

Original languageEnglish
Pages (from-to)182-188
Number of pages7
JournalClinical Endoscopy
Volume45
Issue number3
DOIs
Publication statusPublished - 2012 Dec 1

Fingerprint

Endoscopes
Gastrointestinal Endoscopy
Gastrointestinal Endoscopes
Three-Dimensional Imaging
Robotics
Laparoscopy
Neoplasms

Keywords

  • 3-dimensional imaging
  • Distortion
  • Endoscopes
  • Epipolar geometry

ASJC Scopus subject areas

  • Medicine (miscellaneous)
  • Gastroenterology
  • Radiology Nuclear Medicine and imaging

Cite this

Feasibility of obtaining quantitative 3-dimensional information using conventional endoscope : A pilot study. / Hyun, Jong Jin; Chun, Hoon-Jai; Keum, Bora; Seok Seo, Yeon; Sik Kim, Yong; Jeen, Yoon Tae; Lee, Hong Sik; Um, Soon-Ho; Kim, Chang Duck; Sang Ryu, Ho; Lim, Jong Wook; Woo, Dong Gi; Kim, Young Joong; Lim, Myo Taeg.

In: Clinical Endoscopy, Vol. 45, No. 3, 01.12.2012, p. 182-188.

Research output: Contribution to journalArticle

Hyun, Jong Jin ; Chun, Hoon-Jai ; Keum, Bora ; Seok Seo, Yeon ; Sik Kim, Yong ; Jeen, Yoon Tae ; Lee, Hong Sik ; Um, Soon-Ho ; Kim, Chang Duck ; Sang Ryu, Ho ; Lim, Jong Wook ; Woo, Dong Gi ; Kim, Young Joong ; Lim, Myo Taeg. / Feasibility of obtaining quantitative 3-dimensional information using conventional endoscope : A pilot study. In: Clinical Endoscopy. 2012 ; Vol. 45, No. 3. pp. 182-188.
@article{bc3db426848e4b24b9d5300d048fdb49,
title = "Feasibility of obtaining quantitative 3-dimensional information using conventional endoscope: A pilot study",
abstract = "Background/Aims: Three-dimensional (3D) imaging is gaining popularity and has been partly adopted in laparoscopic surgery or robotic surgery but has not been applied to gastrointestinal endoscopy. As a first step, we conducted an experiment to evaluate whether images obtained by conventional gastrointestinal endoscopy could be used to acquire quantitative 3D information. Methods: Two endoscopes (GIF-H260) were used in a Borrmann type I tumor model made of clay. The endoscopes were calibrated by correcting the barrel distortion and perspective distortion. Obtained images were converted to gray-level image, and the characteristics of the images were obtained by edge detection. Finally, data on 3D parameters were measured by using epipolar geometry, two view geometry, and pinhole camera model. Results: The focal length (f) of endoscope at 30 mm was 258.49 pixels. Two endoscopes were fixed at predetermined distance, 12 mm (d12). After matching and calculating disparity (v2-v1), which was 106 pixels, the calculated length between the camera and object (L) was 29.26 mm. The height of the object projected onto the image (h) was then applied to the pinhole camera model, and the result of H (height and width) was 38.21 mm and 41.72 mm, respectively. Measurements were conducted from 2 different locations. The measurement errors ranged from 2.98{\%} to 7.00{\%} with the current Borrmann type I tumor model. Conclusions: It was feasible to obtain parameters necessary for 3D analysis and to apply the data to epipolar geometry with conventional gastrointestinal endoscope to calculate the size of an object.",
keywords = "3-dimensional imaging, Distortion, Endoscopes, Epipolar geometry",
author = "Hyun, {Jong Jin} and Hoon-Jai Chun and Bora Keum and {Seok Seo}, Yeon and {Sik Kim}, Yong and Jeen, {Yoon Tae} and Lee, {Hong Sik} and Soon-Ho Um and Kim, {Chang Duck} and {Sang Ryu}, Ho and Lim, {Jong Wook} and Woo, {Dong Gi} and Kim, {Young Joong} and Lim, {Myo Taeg}",
year = "2012",
month = "12",
day = "1",
doi = "10.5946/ce.2012.45.3.182",
language = "English",
volume = "45",
pages = "182--188",
journal = "Clinical Endoscopy",
issn = "2234-2400",
publisher = "Korean Society of Gastrointestinal Endoscopy",
number = "3",

}

TY - JOUR

T1 - Feasibility of obtaining quantitative 3-dimensional information using conventional endoscope

T2 - A pilot study

AU - Hyun, Jong Jin

AU - Chun, Hoon-Jai

AU - Keum, Bora

AU - Seok Seo, Yeon

AU - Sik Kim, Yong

AU - Jeen, Yoon Tae

AU - Lee, Hong Sik

AU - Um, Soon-Ho

AU - Kim, Chang Duck

AU - Sang Ryu, Ho

AU - Lim, Jong Wook

AU - Woo, Dong Gi

AU - Kim, Young Joong

AU - Lim, Myo Taeg

PY - 2012/12/1

Y1 - 2012/12/1

N2 - Background/Aims: Three-dimensional (3D) imaging is gaining popularity and has been partly adopted in laparoscopic surgery or robotic surgery but has not been applied to gastrointestinal endoscopy. As a first step, we conducted an experiment to evaluate whether images obtained by conventional gastrointestinal endoscopy could be used to acquire quantitative 3D information. Methods: Two endoscopes (GIF-H260) were used in a Borrmann type I tumor model made of clay. The endoscopes were calibrated by correcting the barrel distortion and perspective distortion. Obtained images were converted to gray-level image, and the characteristics of the images were obtained by edge detection. Finally, data on 3D parameters were measured by using epipolar geometry, two view geometry, and pinhole camera model. Results: The focal length (f) of endoscope at 30 mm was 258.49 pixels. Two endoscopes were fixed at predetermined distance, 12 mm (d12). After matching and calculating disparity (v2-v1), which was 106 pixels, the calculated length between the camera and object (L) was 29.26 mm. The height of the object projected onto the image (h) was then applied to the pinhole camera model, and the result of H (height and width) was 38.21 mm and 41.72 mm, respectively. Measurements were conducted from 2 different locations. The measurement errors ranged from 2.98% to 7.00% with the current Borrmann type I tumor model. Conclusions: It was feasible to obtain parameters necessary for 3D analysis and to apply the data to epipolar geometry with conventional gastrointestinal endoscope to calculate the size of an object.

AB - Background/Aims: Three-dimensional (3D) imaging is gaining popularity and has been partly adopted in laparoscopic surgery or robotic surgery but has not been applied to gastrointestinal endoscopy. As a first step, we conducted an experiment to evaluate whether images obtained by conventional gastrointestinal endoscopy could be used to acquire quantitative 3D information. Methods: Two endoscopes (GIF-H260) were used in a Borrmann type I tumor model made of clay. The endoscopes were calibrated by correcting the barrel distortion and perspective distortion. Obtained images were converted to gray-level image, and the characteristics of the images were obtained by edge detection. Finally, data on 3D parameters were measured by using epipolar geometry, two view geometry, and pinhole camera model. Results: The focal length (f) of endoscope at 30 mm was 258.49 pixels. Two endoscopes were fixed at predetermined distance, 12 mm (d12). After matching and calculating disparity (v2-v1), which was 106 pixels, the calculated length between the camera and object (L) was 29.26 mm. The height of the object projected onto the image (h) was then applied to the pinhole camera model, and the result of H (height and width) was 38.21 mm and 41.72 mm, respectively. Measurements were conducted from 2 different locations. The measurement errors ranged from 2.98% to 7.00% with the current Borrmann type I tumor model. Conclusions: It was feasible to obtain parameters necessary for 3D analysis and to apply the data to epipolar geometry with conventional gastrointestinal endoscope to calculate the size of an object.

KW - 3-dimensional imaging

KW - Distortion

KW - Endoscopes

KW - Epipolar geometry

UR - http://www.scopus.com/inward/record.url?scp=84878720602&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84878720602&partnerID=8YFLogxK

U2 - 10.5946/ce.2012.45.3.182

DO - 10.5946/ce.2012.45.3.182

M3 - Article

C2 - 22977798

AN - SCOPUS:84878720602

VL - 45

SP - 182

EP - 188

JO - Clinical Endoscopy

JF - Clinical Endoscopy

SN - 2234-2400

IS - 3

ER -