Automatic Patient Registration for Port Placement in Minimally Invasixe Endoscopic Surgery

  • Marco Feuerstein
  • Stephen M. Wildhirt
  • Robert Bauernschmitt
  • Nassir Navab
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3750)


Optimal port placement is a delicate issue in minimally invasive endoscopic surgery, particularly in robotically assisted surgeey. A good choice of the instruments’ and endoscope’s ports can avoid time-consuming consecutive new port placement. We present a novel method to intuitively and precisely plan the port placement. The patient is registered to its pre-operative CT by just moving the endoscope around fiducials, which are attached to the patient’s thorax and are visible in its CT. Their 3D positions are automatically reconstructed. Without prior time-consuming segmentation, the pre-operative CT volume is directly rendered with respect to the endoscope or instruments. This enables the simulation of a camera flight through the patient’s interior along the instruments’ axes to easily validate possible ports.


Augmented Reality Port Placement Epipolar Geometry Dual Quaternion Camera Center 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2005

Authors and Affiliations

  • Marco Feuerstein
    • 1
    • 2
  • Stephen M. Wildhirt
    • 2
  • Robert Bauernschmitt
    • 2
  • Nassir Navab
    • 1
  1. 1.Computer Aided Medical Procedures (CAMP) GroupTU MunichGermany
  2. 2.Department of Cardiothoracic SurgeryGerman Heart Center MunichGermany

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