A novel SLAM method for laparoscopic scene reconstruction with feature patch tracking

As one of the Minimally Invasive Surgery (MIS), laparoscopy is widely applied in gastrointestinal surgery. Benefits from its minimally invasive procedure and fast postoperative rehabilitation for patients. However, it is a huge challenge for surgeons to operate slender surgical instruments under a limited field of view taken by laparoscopy which requires the surgeon to have rich surgical experienc...