Systems and methods for reconstructing 3d objects

A system for reconstructing a model of an inner three-dimensional (3D) surface of a patient anatomy, the system comprising:

• an endoscope including an endoscopic camera;
• one or more processors, and a memory that stores executable instructions that, when executed, cause the one or more processors to:
• capture a sequential motion picture of the inner 3D surface using the endoscopic camera;
• apply a contrast-enhancement algorithm to the captured sequential motion picture to create a contrast-enhanced endoscopic video sequence;
• reconstruct a 3D surface model of the patient anatomy from the contrast-enhanced endoscopic video sequence using structure from motion (SfM) photogrammetry;
• scale the 3D surface model to real-world dimensions of the patient anatomy, to generate a scaled 3D surface model;
• calculate one or more measurements of the patient anatomy using the scaled 3D surface model;
• and
• display the one or more measurements on a display device and/or store the one or more measurements in a memory.

A method, comprising:

• capturing an endoscopic video sequence of a three-dimensional (3D) laryngotracheal surface of a patient using an endoscopic camera inserted into a laryngoscope;
• enhancing a contrast of the endoscopic video sequence using a contrast-enhancement algorithm;
• reducing a distortion of the contrast-enhanced endoscopic video sequence using a baseline calibration matrix calculated using images of a calibration object acquired via the endoscopic camera;
• reconstructing a 3D surface model of the laryngotracheal surface from the contrast-enhanced endoscopic video sequence using structure from motion (SfM) photogrammetry, starting at a starting image, the starting image having a highest number of scale-invariant features included in other images of the contrast-enhanced endoscopic video sequence;
• computing an inner diameter of the laryngoscope by computing a minimum diameter of a sphere inscribed in the 3D surface model with a center on a centerline of an airway defined by the laryngotracheal surface;
• retrieving dimensions of the laryngoscope from a lookup table, based on the inner diameter;
• determining a scaling ratio based on the retrieved laryngoscope dimensions;
• scaling the 3D surface model by the scaling ratio to generate a scaled 3D laryngotracheal surface model having a same scale as the laryngotracheal surface of the patient;
• calculating one or more measurements of the laryngotracheal surface of the patient using the scaled 3D surface model;
• and
• displaying the one or more measurements on a display device and/or storing the one or more measurements in a memory.