Biopsy Site Re-localisation Based on the Computation of Epipolar Lines from Two Previous Endoscopic Images

Authors:
Baptiste Allain;Mingxing Hu;Laurence B. Lovat;Richard Cook;Sebastien Ourselin;David Hawkes
Affiliations:
Centre for Medical Image Computing, University College London UCL,;Centre for Medical Image Computing, University College London UCL,;Department of Gastroenterology, University College London Hospitals UCLH NHS Foundation Trust and National Medical Laser Centre, Division of Surgical Sciences, UCL,;Dental Institute, Department of Biomaterials, King's College London, KCL,;Centre for Medical Image Computing, University College London UCL,;Centre for Medical Image Computing, University College London UCL,
Venue:
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Year:
2009

Citing 7
Cited 2

IMPSAC: Synthesis of Importance Sampling and Random Sample Consensus

IEEE Transactions on Pattern Analysis and Machine Intelligence
Multiple View Geometry in Computer Vision

Multiple View Geometry in Computer Vision
Computer-based system for the virtual-endoscopic guidance of bronchoscopy

Computer Vision and Image Understanding
Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments

MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
3D reconstruction of internal organ surfaces for minimal invasive surgery

MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Automatic localization of laparoscopic instruments for the visual servoing of an endoscopic camera holder

MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Tracking of instruments in minimally invasive surgery for surgical skill analysis

Miar'06 Proceedings of the Third international conference on Medical Imaging and Augmented Reality

A system for biopsy site re-targeting with uncertainty in gastroenterology and oropharyngeal examinations

MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part II
Targeted optical biopsies for surveillance endoscopies

MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part III

Quantified Score

Hi-index	0.00

Visualization

Abstract

Tracking biopsy sites in endoscopic images can be useful to provide a visual aid for the guidance of surgical tools, for example when endoscopic guided biopsy is required. A new method for re-localisation of these sites is presented in this paper. It makes use of epipolar geometry properties between three images of the same site observed from different viewpoints with an endoscope. Two epipolar lines are derived from the two first images in the third image where the site needs to be re-localised. Their intersection corresponds to the location of the biopsy site. This method was tested with gastroscopic data from 2 patients with 9 series of three images of the oesophagus. The re-localisation error was estimated at less than 1.5 millimetres by a clinical endoscopist, which is sufficient for most clinical endoscopic applications.