Markerless endoscopic registration and referencing

  • Authors:

  • Christian Wengert;Philippe C. Cattin;John M. Duff;Charles Baur;Gábor Székely

  • Affiliations:

  • Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland;Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland;University Hospital of Lausanne, Lausanne, Switzerland;Virtual Reality and Active Interfaces, EPFL Lausanne, Lausanne, Switzerland;Computer Vision Laboratory, ETH Zurich, Zurich, Switzerland

  • Venue:
  • MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
  • Year:
  • 2006

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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.