{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T04:24:00Z","timestamp":1773203040340,"version":"3.50.1"},"reference-count":20,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2021,3,17]],"date-time":"2021-03-17T00:00:00Z","timestamp":1615939200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100009619","name":"Japan Agency for Medical Research and Development","doi-asserted-by":"publisher","award":["No.26-116"],"award-info":[{"award-number":["No.26-116"]}],"id":[{"id":"10.13039\/100009619","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Minimally invasive surgery is widely used because of its tremendous benefits to the patient. However, there are some challenges that surgeons face in this type of surgery, the most important of which is the narrow field of view. Therefore, we propose an approach to expand the field of view for minimally invasive surgery to enhance surgeons\u2019 experience. It combines multiple views in real-time to produce a dynamic expanded view. The proposed approach extends the monocular Oriented features from an accelerated segment test and Rotated Binary robust independent elementary features\u2014Simultaneous Localization And Mapping (ORB-SLAM) to work with a multi-camera setup. The ORB-SLAM\u2019s three parallel threads, namely tracking, mapping and loop closing, are performed for each camera and new threads are added to calculate the relative cameras\u2019 pose and to construct the expanded view. A new algorithm for estimating the optimal inter-camera correspondence matrix from a set of corresponding 3D map points is presented. This optimal transformation is then used to produce the final view. The proposed approach was evaluated using both human models and in vivo data. The evaluation results of the proposed correspondence matrix estimation algorithm prove its ability to reduce the error and to produce an accurate transformation. The results also show that when other approaches fail, the proposed approach can produce an expanded view. In this work, a real-time dynamic field-of-view expansion approach that can work in all situations regardless of images\u2019 overlap is proposed. It outperforms the previous approaches and can also work at 21 fps.<\/jats:p>","DOI":"10.3390\/s21062106","type":"journal-article","created":{"date-parts":[[2021,3,17]],"date-time":"2021-03-17T21:43:31Z","timestamp":1616017411000},"page":"2106","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Real-Time Expanded Field-of-View for Minimally Invasive Surgery Using Multi-Camera Visual Simultaneous Localization and Mapping"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8434-8578","authenticated-orcid":false,"given":"Ahmed","family":"Afifi","sequence":"first","affiliation":[{"name":"Department of Computer Science, College of Computer Science and Information Technology, King Faisal University, P.O. Box 400, Al-Ahsa 31982, Saudi Arabia"},{"name":"Faculty of Computers and Information, Menoufia University, Menoufia 32511, Egypt"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chisato","family":"Takada","sequence":"additional","affiliation":[{"name":"Graduate School of Science and Engineering, Chiba University, Chiba 263-8522, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yuichiro","family":"Yoshimura","sequence":"additional","affiliation":[{"name":"Center for Frontier Medical Engineering, Chiba University, Chiba 263-8522, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Toshiya","family":"Nakaguchi","sequence":"additional","affiliation":[{"name":"Center for Frontier Medical Engineering, Chiba University, Chiba 263-8522, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,17]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"142","DOI":"10.1016\/j.suronc.2019.05.007","article-title":"Retrospective comparison of outcomes of laparoscopic and open surgery for T2 gallbladder cancer \u2013 Thirteen-year experience","volume":"29","author":"Jang","year":"2019","journal-title":"Surgical Oncol."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"541","DOI":"10.1109\/TBME.2007.903520","article-title":"Mosaicing of bladder endoscopic image sequences: Distortion calibration and registration algorithm","volume":"55","author":"Daul","year":"2008","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"ref_3","doi-asserted-by":"crossref","unstructured":"Lerotic, M., Chung, A.J., Clark, J., Valibeik, S., and Yang, G.Z. (2008, January 6\u201310). Dynamic view expansion for enhanced navigation in natural orifice transluminal endoscopic surgery. Proceedings of the International Conference on Medical Image Computing and Computer-Assisted Intervention, New York, NY, USA.","DOI":"10.1007\/978-3-540-85990-1_56"},{"key":"ref_4","unstructured":"Vemuri, A.S., Liu, K.C., Ho, Y., and Wu, H.S. (2011). Endoscopic Video Mosaicing: Application to Surgery and Diagnostics. Living Imaging Workshop, IRCAD."},{"key":"ref_5","doi-asserted-by":"crossref","unstructured":"Bergen, T., Ruthotto, S., M\u00fcnzenmayer, C., Rupp, S., Paulus, D., and Winter, C. (2009, January 16\u201318). Feature-based real-time endoscopic mosaicking. 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