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1 March 2011 Comparison of two navigation system designs for flexible endoscopes using abdominal 3D ultrasound
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This paper describes a navigation system for flexible endoscopes equipped with ultrasound scan heads. For navigation and needle biopsy procedures it provides additional oblique slices from preoperative computed tomography (CT) volumes which are displayed with the corresponding endoscopic ultrasound (US) image. In contrast to similar systems an additional abdominal 3D ultrasound image is used to achieve the required registration. Two different approaches are compared: one method is based on direct inter-modal registration between abdominal 3D ultrasound and CT volume. The second method uses another 3D US scan taken preoperatively before the CT scan. Here, the CT is calibrated by means of an optical tracking system and the transformation between CT and the calibrated 3D US can be calculated without image registration. Before intervention, a pre-interventional 3D US is registered intra-modal to the preoperative US. This second method invoked to be the more robust and accurate procedure. For experimental studies a phantom has been developed which consists of a plastic tube inside a water tank. For error evaluation small plastic spheres have been fixed around the tube at different distances. First results give an overall error of 3.9 mm for the first method while the overall error for the intramodal method amounted to 3.1 mm.
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Marcus Kaar, Rainer Hoffmann, Helmar Bergmann, Michael Figl, Christoph Bloch, Alfred Kratochwil, Wolfgang Birkfellner, and Johann Hummel "Comparison of two navigation system designs for flexible endoscopes using abdominal 3D ultrasound", Proc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, 796418 (1 March 2011);

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