A Method for Registration of 3-D Shapes
IEEE Transactions on Pattern Analysis and Machine Intelligence - Special issue on interpretation of 3-D scenes—part II
Distinctive Image Features from Scale-Invariant Keypoints
International Journal of Computer Vision
Image Processing, Analysis, and Machine Vision
Image Processing, Analysis, and Machine Vision
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
A state of the art in structured light patterns for surface profilometry
Pattern Recognition
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part I
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Minimally invasive endoscope based abdominal procedures provide potential advantages over conventional open surgery such as reduced trauma, shorter hospital stay, and quick recovery. One major limitation of using this technique is the narrow view of the endoscope and the lack of proper 3D context of the surgical site. In this paper, we propose a rapid and accurate method to align intraoperative stereo endoscopic images of the surgical site with preoperative Magnetic Resonance (MR) images. Gridline light pattern is projected on the surgical site to facilitate the registration. The purpose of this surface-based registration is to provide 3D context of the surgical site to the endoscopic view. We have validated the proposed method on a liver phantom and achieved the surface registration error of 0.76 ± 0.11 mm.