Markerless Endoscopic Registration and Referencing

Abstract. 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 noninvasive 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.

• Type: Conference
• Year: 2006
• Where: MICCAI
• Authors: Christian Wengert, Philippe C. Cattin, John M. Duff, Charles Baur, Gábor Székely
• Keywords: Efficient 3D Point, Medical Imaging, MICCAI 2006, Noninvasive Optical Approach, Reconstruction Accuracy