Markerless endoscopic registration and referencing

Med Image Comput Comput Assist Interv. 2006;9(Pt 1):816-23. doi: 10.1007/11866565_100.


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

Publication types

  • Evaluation Study
  • Research Support, Non-U.S. Gov't

MeSH terms

  • Algorithms*
  • Endoscopes*
  • Endoscopy / methods*
  • Equipment Design
  • Equipment Failure Analysis
  • Humans
  • Image Enhancement / instrumentation*
  • Image Interpretation, Computer-Assisted / instrumentation*
  • Imaging, Three-Dimensional / instrumentation*
  • Reference Values
  • Reproducibility of Results
  • Sensitivity and Specificity
  • Subtraction Technique / instrumentation*