OneSLAM to map them all: a generalized approach to SLAM for monocular endoscopic imaging based on tracking any point.

Purpose: Monocular SLAM algorithms are the key enabling technology for image-based surgical navigation systems for endoscopic procedures. Due to the visual feature scarcity and unique lighting conditions encountered in endoscopy, classical SLAM approaches perform inconsistently. Many of the recent approaches to endoscopic SLAM rely on deep learning models.

An endoscopic chisel: intraoperative imaging carves 3D anatomical models.

Purpose: Preoperative imaging plays a pivotal role in sinus surgery where CTs offer patient-specific insights of complex anatomy, enabling real-time intraoperative navigation to complement endoscopy imaging. However, surgery elicits anatomical changes not represented in the preoperative model, generating an inaccurate basis for navigation during surgery progression.

Methods: We propose a first vision-based approach to update the preoperative 3D anatomical model leveraging intraoperative endoscopic video for navigated sinus surgery where relative camera poses are known.