Robust endoscopic pose estimation for intraoperative organ-mosaicking

Daniel Reichard; Sebastian Bodenstedt; Stefan Suwelack; Martin Wagner; Hannes Kenngott; Beat Peter Müller-Stich; Rüdiger Dillmann; Stefanie Speidel

doi:10.1117/12.2217224

21 March 2016 Robust endoscopic pose estimation for intraoperative organ-mosaicking

Daniel Reichard, Sebastian Bodenstedt, Stefan Suwelack, Martin Wagner, Hannes Kenngott, Beat Peter Müller-Stich, Rüdiger Dillmann, Stefanie Speidel

Author Affiliations +

Proceedings Volume 9784, Medical Imaging 2016: Image Processing; 97841Q (2016) https://doi.org/10.1117/12.2217224
Event: SPIE Medical Imaging, 2016, San Diego, California, United States

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.

Citation Download Citation

Daniel Reichard, Sebastian Bodenstedt, Stefan Suwelack, Martin Wagner, Hannes Kenngott, Beat Peter Müller-Stich, Rüdiger Dillmann, and Stefanie Speidel "Robust endoscopic pose estimation for intraoperative organ-mosaicking", Proc. SPIE 9784, Medical Imaging 2016: Image Processing, 97841Q (21 March 2016); https://doi.org/10.1117/12.2217224

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available