Acquiring Submillimeter-Accurate Multi-Task Vision Datasets for Computer-Assisted Orthopedic Surgery

Abstract

Advances in computer vision, particularly in optical image-based 3D reconstruction and feature matching, enable applications like marker-less surgical navigation and digitization of surgery. However, their development is hindered by a lack of suitable datasets with 3D ground truth. This work explores an approach to generating realistic and accurate ex vivo datasets tailored for 3D reconstruction and feature matching in open orthopedic surgery. A set of posed images and an accurately registered ground truth surface mesh of the scene are required to develop vision-based 3D reconstruction and matching methods suitable for surgery. We propose a framework consisting of three core steps and compare different methods for each step: 3D scanning, calibration of viewpoints for a set of high-resolution RGB images, and an optical-based method for scene registration. We evaluate each step of this framework on an ex vivo scoliosis surgery using a pig spine, conducted under real operating room conditions. A mean 3D Euclidean error of 0.35 mm is achieved with respect to the 3D ground truth. The proposed method results in submillimeter accurate 3D ground truths and surgical images with a spatial resolution of 0.1 mm. This opens the door to acquiring future surgical datasets for high-precision applications.