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Markerless Endoscopic Registration and Referencing

Christian Wengert and Philippe C. Cattin and John M. Duff and Gabor Székely
Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2006
October 2006


Accurate patient registration and referencing is a key element in navigated surgery. Unfortunately all existing methods are either invasive or very time consuming. In this paper 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 0.1mm and a tracking accuracy of 0.5mm on phantom data. The ability to cope with real data is demonstrated by cadaver experiments.

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  author = {Christian Wengert and Philippe C. Cattin and John M. Duff and Gabor Székely},
  title = {Markerless Endoscopic Registration and Referencing},
  booktitle = {Medical Image Computing and Computer-Assisted Intervention -- MICCAI 2006},
  year = {2006},
  month = {October},
  pages = {816--823},
  volume = {4190},
  editor = {Rasmus Larsen and Mads Nielsen and Jon Sporring},
  series = {LNCS},
  publisher = {Springer},
  keywords = {}