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Proceedings Paper

Robust endoscopic pose estimation for intraoperative organ-mosaicking
Author(s): Daniel Reichard; Sebastian Bodenstedt; Stefan Suwelack; Martin Wagner; Hannes Kenngott; Beat Peter Müller-Stich; Rüdiger Dillmann; Stefanie Speidel
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Paper Abstract

The number of minimally invasive procedures is growing every year. These procedures are highly complex and very demanding for the surgeons. It is therefore important to provide intraoperative assistance to alleviate these difficulties. For most computer-assistance systems, like visualizing target structures with augmented reality, a registration step is required to map preoperative data (e.g. CT images) to the ongoing intraoperative scene. Without additional hardware, the (stereo-) endoscope is the prime intraoperative data source and with it, stereo reconstruction methods can be used to obtain 3D models from target structures. To link reconstructed parts from different frames (mosaicking), the endoscope movement has to be known. In this paper, we present a camera tracking method that uses dense depth and feature registration which are combined with a Kalman Filter scheme. It provides a robust position estimation that shows promising results in ex vivo and in silico experiments.

Paper Details

Date Published: 21 March 2016
PDF: 6 pages
Proc. SPIE 9784, Medical Imaging 2016: Image Processing, 97841Q (21 March 2016); doi: 10.1117/12.2217224
Show Author Affiliations
Daniel Reichard, Karlsruher Institut für Technologie (Germany)
Sebastian Bodenstedt, Karlsruher Institut für Technologie (Germany)
Stefan Suwelack, Karlsruher Institut für Technologie (Germany)
Martin Wagner, Univ. Heidelberg (Germany)
Hannes Kenngott, Univ. Heidelberg (Germany)
Beat Peter Müller-Stich, Univ. Heidelberg (Germany)
Rüdiger Dillmann, Karlsruher Institut für Technologie (Germany)
Stefanie Speidel, Karlsruher Institut für Technologie (Germany)


Published in SPIE Proceedings Vol. 9784:
Medical Imaging 2016: Image Processing
Martin A. Styner; Elsa D. Angelini, Editor(s)

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