Self-Supervised Feature Detection and 3D Reconstruction for Real-Time Neuroendoscopic Guidance.

Abstract

Transventricular approach to deep-brain targets offers direct visualization but also imparts deformation that challenges accurate neuronavigation. 3D reconstruction and registration of the endoscopic view could provide up-to-date, real-time guidance. We develop and evaluate a self-supervised feature detection method for 3D reconstruction and navigation in neuroendoscopy. Unlabeled neuroendoscopic video data from 15 clinical cases yielding 11,527 video frames yielding 11,527 video frames were used to train a self-supervised learning method (R2D2-E) with 5-fold cross validation integrated into a simultaneous localization and mapping (SLAM) pipeline for 3D reconstruction. A series of experiments guided nominal hyperparameters selection and evaluated performance in comparison to SIFT, SURF and SuperPoint in terms of the accuracy of feature matching and 3D reconstruction. R2D2-E demonstrated a superior performance in feature matching and 3D reconstruction. R2D2-E features achieved a median projected error of 0.64 mm compared to 0.90 mm, 0.99 mm and 0.83 mm error for SIFT, SURF and SuperPoint, respectively. The method also improved F1 score by 14%, 25% and 22% compared to SIFT, SURF and SuperPoint, respectively. The proposed feature detection approach enables accurate, real-time 3D reconstruction in neuroendoscopy, offering robust feature detection in the presence of endoscopic artifacts and provides up-to-date navigation following soft-tissue deformation. The self-supervised feature detection method advances capabilities for vision-based guidance and augmented visualization of target structures in neuroendoscopic procedures. The approach could enhance the accuracy and precision of neurosurgery to improve patient outcomes.