标题： 技术报告：用于改进IGS的分治3D实时重建 显示英文标题

标题： Tech Report: Divide and Conquer 3D Real-Time Reconstruction for Improved IGS

摘要： 基于内窥镜视频跟踪手术修改在技术上是可行的，并且具有重要的临床优势；然而，这仍然具有挑战性。 本报告提出了一种模块化流程，以分而治之的方式解决过程中的临床挑战。 该流程集成了帧选择、深度估计和三维重建组件，使得在引入新方法时具有灵活性和适应性。 详细介绍了最近的进展，包括深度估计中Depth-Anything V2和EndoDAC的集成，以及迭代最近点（ICP）对齐过程的改进。 在Hamlyn数据集上进行的实验证明了集成方法的有效性。 系统的能力和局限性都进行了讨论。 显示英文摘要

摘要： Tracking surgical modifications based on endoscopic videos is technically feasible and of great clinical advantages; however, it still remains challenging. This report presents a modular pipeline to divide and conquer the clinical challenges in the process. The pipeline integrates frame selection, depth estimation, and 3D reconstruction components, allowing for flexibility and adaptability in incorporating new methods. Recent advancements, including the integration of Depth-Anything V2 and EndoDAC for depth estimation, as well as improvements in the Iterative Closest Point (ICP) alignment process, are detailed. Experiments conducted on the Hamlyn dataset demonstrate the effectiveness of the integrated methods. System capability and limitations are both discussed.