Magneto-Optic Tracking of a Flexible Laparoscopic Ultrasound Transducer for Laparoscope Augmentation

  • Marco Feuerstein
  • Tobias Reichl
  • Jakob Vogel
  • Armin Schneider
  • Hubertus Feussner
  • Nassir Navab
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4791)


In abdominal surgery, a laparoscopic ultrasound transducer is commonly used to detect lesions such as metastases. The determination and visualization of position and orientation of its flexible tip in relation to the patient or other surgical instruments can be of much help to (novice) surgeons utilizing the transducer intraoperatively. This difficult subject has recently been paid attention to by the scientific community [1,2,3,4,5,6]. Electromagnetic tracking systems can be applied to track the flexible tip. However, the magnetic field can be distorted by ferromagnetic material. This paper presents a new method based on optical tracking of the laparoscope and magneto-optic tracking of the transducer, which is able to automatically detect field distortions. This is used for a smooth augmentation of the B-scan images of the transducer directly on the camera images in real time.


Root Mean Square Augmented Reality Distortion Function Laparoscopic Ultrasound Dual Quaternion 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Marco Feuerstein
    • 1
  • Tobias Reichl
    • 1
  • Jakob Vogel
    • 1
  • Armin Schneider
    • 2
  • Hubertus Feussner
    • 2
  • Nassir Navab
    • 1
  1. 1.Computer-Aided Medical Procedures (CAMP), TUM, MunichGermany
  2. 2.Department of Surgery, Klinikum rechts der Isar, TUM, MunichGermany

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