Intraoperative 3D imaging has great potential for enhancing surgical visualization. This is especially so in ophthalmic surgery where live volumetric imaging from optical coherence tomography systems recently incorporated into surgical microscopes has freed surgeons from the otherwise universal top-down viewpoint. New viewpoints, however, disorient surgeons when directions of their hand motions and viewed tool motions do not align. We propose introducing a robotic surgery system to decouple surgeons' hands from their tools and ensure that viewed tool motions align in arbitrary viewpoints. We present a framework entitled Arbitrary Viewpoint Robotic Manipulation (AVRM) which governs how hand and tool motions should interact to minimize disorientation and thereby enable operations from desirable but previously untenable viewpoints. A crossover study in which 20 subjects completed mock surgical scenarios with an AVRM testbed system demonstrated that arbitrary viewpoints do not improve task performance unless automatic hand-tool misalignment correction is provided. When provided together with arbitrary viewpoints, automatic hand-tool misalignment correction reduces task completion time by 50% on average compared to a fixed top-down viewpoint.

In this paper, we present a novel technique, based on compressive sensing principles, for reconstruction and enhancement of multi-dimensional image data. Our method is a major improvement and generalization of the multi-scale sparsity based tomographic denoising (MSBTD) algorithm we recently introduced for reducing speckle noise. Our new technique exhibits several advantages over MSBTD, including its capability to simultaneously reduce noise and interpolate missing data. Unlike MSBTD, our new method does not require an a priori high-quality image from the target imaging subject and thus offers the potential to shorten clinical imaging sessions. This novel image restoration method, which we termed sparsity based simultaneous denoising and interpolation (SBSDI), utilizes sparse representation dictionaries constructed from previously collected datasets. We tested the SBSDI algorithm on retinal spectral domain optical coherence tomography images captured in the clinic. Experiments showed that the SBSDI algorithm qualitatively and quantitatively outperforms other state-of-the-art methods.

Super-resolution (SR) is the process of combining multiple aliased low-quality images to produce a high-resolution high-quality image. Aside from registration and fusion of low-resolution images, a key process in SR is the restoration and denoising of the fused images. We present a novel extension of the combined Fourier-wavelet deconvolution and denoising algorithm ForWarD to the multiframe SR application. Our method first uses a fast Fourier-base multiframe image restoration to produce a sharp, yet noisy estimate of the high-resolution image. Our method then applies a space-variant nonlinear wavelet thresholding that addresses the nonstationarity inherent in resolution-enhanced fused images. We describe a computationally efficient method for implementing this space-variant processing that leverages the efficiency of the fast Fourier transform (FFT) to minimize complexity. Finally, we demonstrate the effectiveness of this algorithm for regular imagery as well as in digital mammography.

Our previous work demonstrates the ability to reconstruct a single higher resolution image from fusing a collection of multiple extremely low-dosage aliased X-ray images. While this computationally efficient method eliminates aliasing artifacts associated with undersampling, it does not address the problem of deblurring the reconstructed image. In this paper, we present a fast nonlinear deblurring algorithm, specifically designed to address the nonstationary noise associated with multiframe reconstructed images. The algorithm uses a combination of Fourier sharpening and wavelet denoising similar to the ForWarD algorithm. Experimental results on enhancing digital mammogram images attest to the effectiveness of the presented method.