Abstract
Accurate patient registration and referencing is a key element in navigated surgery. Unfortunately all existing methods are either invasive or very time consuming. We propose a fully non-invasive optical approach using a tracked monocular endoscope to reconstruct the surgical scene in 3D using photogrammetric methods. The 3D reconstruction can then be used for matching the pre-operative data to the intra-operative scene. In order to cope with the near real-time requirements for referencing, we use a novel, efficient 3D point management method during 3D model reconstruction.
The presented prototype system provides a reconstruction accuracy of 0.1 mm and a tracking accuracy of 0.5 mm on phantom data. The ability to cope with real data is demonstrated by cadaver experiments.
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Wengert, C., Cattin, P.C., Duff, J.M., Baur, C., Székely, G. (2006). Markerless Endoscopic Registration and Referencing. In: Larsen, R., Nielsen, M., Sporring, J. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2006. MICCAI 2006. Lecture Notes in Computer Science, vol 4190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11866565_100
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DOI: https://doi.org/10.1007/11866565_100
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-44707-8
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