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TeleOR: Real-time Telemedicine System for Full-Scene Operating Room

Yixuan Wu, Kaiyuan Hu, Qian Shao, Jintai Chen, Danny Z. Chen, Jian Wu

TL;DR

This paper presents TeleOR, a real-time telemedicine system for full-scene operating room reconstruction to support remote surgical intervention. It introduces three innovations: dynamic self-calibration of multiview cameras using scene features, selective OR reconstruction focusing on changing regions via optical flow, and viewport-adaptive transmission guided by client FoV feedback and bandwidth. The system is evaluated on the 4D-OR dataset, showing high reconstruction quality (MSSIM up to $0.9827$) and transmission efficiency under bandwidth constraints, with FPS around $22.7$ at $100$ Mbps. TeleOR's approach reduces computational load and data transmission while maintaining real-time performance, enabling practical tele-interventions in resource-limited settings.

Abstract

The advent of telemedicine represents a transformative development in leveraging technology to extend the reach of specialized medical expertise to remote surgeries, a field where the immediacy of expert guidance is paramount. However, the intricate dynamics of Operating Room (OR) scene pose unique challenges for telemedicine, particularly in achieving high-fidelity, real-time scene reconstruction and transmission amidst obstructions and bandwidth limitations. This paper introduces TeleOR, a pioneering system designed to address these challenges through real-time OR scene reconstruction for Tele-intervention. TeleOR distinguishes itself with three innovative approaches: dynamic self-calibration, which leverages inherent scene features for calibration without the need for preset markers, allowing for obstacle avoidance and real-time camera adjustment; selective OR reconstruction, focusing on dynamically changing scene segments to reduce reconstruction complexity; and viewport-adaptive transmission, optimizing data transmission based on real-time client feedback to efficiently deliver high-quality 3D reconstructions within bandwidth constraints. Comprehensive experiments on the 4D-OR surgical scene dataset demostrate the superiority and applicability of TeleOR, illuminating the potential to revolutionize tele-interventions by overcoming the spatial and technical barriers inherent in remote surgical guidance.

TeleOR: Real-time Telemedicine System for Full-Scene Operating Room

TL;DR

This paper presents TeleOR, a real-time telemedicine system for full-scene operating room reconstruction to support remote surgical intervention. It introduces three innovations: dynamic self-calibration of multiview cameras using scene features, selective OR reconstruction focusing on changing regions via optical flow, and viewport-adaptive transmission guided by client FoV feedback and bandwidth. The system is evaluated on the 4D-OR dataset, showing high reconstruction quality (MSSIM up to ) and transmission efficiency under bandwidth constraints, with FPS around at Mbps. TeleOR's approach reduces computational load and data transmission while maintaining real-time performance, enabling practical tele-interventions in resource-limited settings.

Abstract

The advent of telemedicine represents a transformative development in leveraging technology to extend the reach of specialized medical expertise to remote surgeries, a field where the immediacy of expert guidance is paramount. However, the intricate dynamics of Operating Room (OR) scene pose unique challenges for telemedicine, particularly in achieving high-fidelity, real-time scene reconstruction and transmission amidst obstructions and bandwidth limitations. This paper introduces TeleOR, a pioneering system designed to address these challenges through real-time OR scene reconstruction for Tele-intervention. TeleOR distinguishes itself with three innovative approaches: dynamic self-calibration, which leverages inherent scene features for calibration without the need for preset markers, allowing for obstacle avoidance and real-time camera adjustment; selective OR reconstruction, focusing on dynamically changing scene segments to reduce reconstruction complexity; and viewport-adaptive transmission, optimizing data transmission based on real-time client feedback to efficiently deliver high-quality 3D reconstructions within bandwidth constraints. Comprehensive experiments on the 4D-OR surgical scene dataset demostrate the superiority and applicability of TeleOR, illuminating the potential to revolutionize tele-interventions by overcoming the spatial and technical barriers inherent in remote surgical guidance.
Paper Structure (17 sections, 6 equations, 3 figures, 2 tables)

This paper contains 17 sections, 6 equations, 3 figures, 2 tables.

Table of Contents

  1. Introduction
  2. Related Work
  3. Operating Room (OR) Reconstruction.
  4. Virtual Reality (VR) assisted Intervention.
  5. Methodology
  6. Multiview Self-calibration
  7. Selective OR Reconstruction
  8. Optical Flow Calculation.
  9. Viewport-Adaptive Transmission
  10. Experiment
  11. Experimental Setup
  12. Datasets and Evalutaion Metrics.
  13. Implementations.
  14. Reconstruction Quality
  15. Transmission Efficiency
  16. ...and 2 more sections

Figures (3)

  • Figure 1: TeleOR facilitates real-time observation of surgeries through: (1) self-calibration of multiview cameras, (2) selective reconstruction of changing scene segments, and (3) partial remote transmission tailored to the users' predicted viewport for the next time step.
  • Figure 2: Selective OR Reconstruction Pipeline.
  • Figure 3: Visualization of reconstruction results of different network conditions.