i-BRUSH: a gaze-contingent virtual paintbrush for dense 3D reconstruction in robotic assisted surgery.

With increasing demand on intra-operative navigation and motion compensation during robotic assisted minimally invasive surgery, real-time 3D deformation recovery remains a central problem. Currently the majority of existing methods rely on salient features, where the inherent paucity of distinctive landmarks implies either a semi-dense reconstruction or the use of strong geometrical constraints. In this study, we propose a gaze-contingent depth reconstruction scheme by integrating human perception with semi-dense stereo and p-q based shading information. Depth inference is carried out in real-time through a novel application of Bayesian chains without smoothness priors. The practical value of the scheme is highlighted by detailed validation using a beating heart phantom model with known geometry to verify the performance of gaze-contingent 3D surface reconstruction and deformation recovery.