Image synthesis of a mini gamma camera and stereo optical cameras

We have previously developed a method that combines a mini gamma camera with an optical camera to synthesize the two kinds of images and help surgeons to easily identify sentinel lymph nodes on the gastric surface in the cancer resection surgery. Since it is assumed in this method that the object surface is flat, the application is limited. In this article, we extend this method so as to estimate the three-dimensional shape of the object from stereo optical cameras. A prototype system with a mini gamma camera and two optical cameras was constructed and a preliminary experiment was performed.