Endoscopic Orientation Correction

Authors:
Kurt Höller;Jochen Penne;Armin Schneider;Jasper Jahn;Javier Guttiérrez Boronat;Thomas Wittenberg;Hubertus Feußner;Joachim Hornegger
Affiliations:
Chair of Pattern Recognition (LME) and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg;Chair of Pattern Recognition (LME) and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg;Workgroup for Minimal Invasive Surgery (MITI), Klinikum rechts der Isar, Technische Universität München, Germany;Fraunhofer-Institute for Integrated Circuits IIS, Erlangen, Germany;Fraunhofer-Institute for Integrated Circuits IIS, Erlangen, Germany;Chair of Pattern Recognition (LME) and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg and Fraunhofer-Institute for Integrated ...;Workgroup for Minimal Invasive Surgery (MITI), Klinikum rechts der Isar, Technische Universität München, Germany;Chair of Pattern Recognition (LME) and Erlangen Graduate School in Advanced Optical Technologies (SAOT), Friedrich-Alexander University, Erlangen-Nuremberg
Venue:
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Year:
2009

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Abstract

An open problem in endoscopic surgery (especially with flexible endoscopes) is the absence of a stable horizon in endoscopic images. With our "Endorientation" approach image rotation correction, even in non-rigid endoscopic surgery (particularly NOTES), can be realized with a tiny MEMS tri-axial inertial sensor placed on the tip of an endoscope. It measures the impact of gravity on each of the three orthogonal accelerometer axes. After an initial calibration and filtering of these three values the rotation angle is estimated directly. Achievable repetition rate is above the usual endoscopic video frame rate of 30Hz; accuracy is about one degree. The image rotation is performed in real-time by digitally rotating the analog endoscopic video signal. Improvements and benefits have been evaluated in animal studies: Coordination of different instruments and estimation of tissue behavior regarding gravity related deformation and movement was rated to be much more intuitive with a stable horizon on endoscopic images.