Fully Automatic Endoscope Calibration for Intraoperative Use

Wengert, Christian; Reeff, Mireille; Cattin, Philippe C.; Székely, Gábor

doi:10.1007/3-540-32137-3_85

Cited by 48 publications

(42 citation statements)

References 8 publications

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“…At the beginning of this procedure, we acquire GTD for bronchoscope tracking using an electromagnetic tracking (EMT) system and a rigid airway phantom made of a silicone rubber cast in an acrylic box with 18 bore holes. After attaching a magnetic tracking sensor to the tip of the bronchoscope, we calibrate the intrinsic parameters (including the distortion coefficients) of the bronchoscope camera utilizing Zhang's method (Zhang, 2000) and estimate the transformation matrix between the camera and sensor coordinate systems by hand-eye calibration (Wengert et al, 2006). Next we register the EMT and CT coordinate frames by taking the 3D measurements of a magnetic sensor inserted into each of the 18 bore holes, identifying the corresponding points in the CT data, and computing the rigid transformation matrix between the two point clouds (Eggert et al, 1997).…”

Section: Dataset Acquisitionmentioning

confidence: 99%

Development and comparison of new hybrid motion tracking for bronchoscopic navigation

Luo

Feuerstein

Deguchi

et al. 2012

Medical Image Analysis

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This paper presents a new hybrid camera motion tracking method for bronchoscopic navigation combining SIFT, epipolar geometry analysis, Kalman filtering, and image registration. In a thorough evaluation, we compare it to state-of-the-art tracking methods. Our hybrid algorithm for predicting bronchoscope motion uses SIFT features and epipolar constraints to obtain an estimate for interframe pose displacements and Kalman filtering to find an estimate for the magnitude of the motion. We then execute bronchoscope tracking by performing image registration initialized by these estimates. This procedure registers the actual bronchoscopic video and the virtual camera images generated from 3D chest CT data taken prior to bronchoscopic examination for continuous bronchoscopic navigation. A comparative assessment of our new method and the state-of-the-art methods is performed on actual patient data and phantom data. Experimental results from both datasets demonstrate a significant performance boost of navigation using our new method. Our hybrid method is a promising means for bronchoscope tracking, and outperforms other methods based solely on Kalman filtering or image features and image registration.

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Section: Dataset Acquisitionmentioning

confidence: 99%

Development and comparison of new hybrid motion tracking for bronchoscopic navigation

Luo

Feuerstein

Deguchi

et al. 2012

Medical Image Analysis

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show abstract

“…For point-based registration between CT and EMT coordinate systems, 29 external landmarks were used, average residual error was 0.92 mm. Camera intrinsics, deformation, and hand-eye calibration were performed using established methods [9].…”

Section: Evaluation and Resultsmentioning

confidence: 99%

Deformable Registration of Bronchoscopic Video Sequences to CT Volumes with Guaranteed Smooth Output

Reichl

Luo

Menzel

et al. 2011

Lecture Notes in Computer Science

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Abstract. We present a novel approach to tracking of flexible bronchoscopes by modeling the output as spatially continuous over time. Bronchoscopy is a widespread clinical procedure for diagnosis and treatment of lung diseases and navigation systems are highly needed. Tracking of the bronchoscope can be regarded as a deformable registration problem. In our approach we use hybrid image-based and electromagnetic tracking, and the bronchoscope pose relative to CT data is interpolated using Catmull-Rom splines for position and SLERP for orientation.We evaluate the method using ground truth poses manually selected by experts, where mean inter-expert agreement was determined as 1.26 mm. For four dynamic phantom data sets, the accuracy of our method is between 4.13 and 5.93 mm and shown to be equivalent to previous methods. We significantly improve inter-frame smoothness from 2.35-3.08 mm to 1.08-1.51 mm. Our method provides a more realistic and physically plausible solution with significantly less jitter. This quantitative result is confirmed by video output, which is much more consistent and robust, with fewer occasions of tracking loss or unexpected movement.

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“…An efficient way to determine the projection matrix for the cameras is to observe a calibration target with known properties simultaneously with all cameras. Wengert et al (2006) and Bouguet (2008) have developed Matlab toolboxes that allow us to reconstruct the projection matrices from the observation of a calibration target. Alternatively, 'self-calibration' routines can be applied (Svoboda, Martinec & Pajdla 2005) which yield camera projection models from observation of a small, easily detectable, bright spot.…”

Section: Camera Calibrationmentioning

confidence: 99%

“…For our dusty plasma experiments, a calibration target with a pattern of dots of 0.5 mm diameter and a centre-to-centre distance of the dots of 1 mm has been found to be useful (see figure 2). In addition, according to Wengert et al (2006), the target has two perpendicular bars in the centre for unique identification of target orientation in the cameras. For further information on the target see , a different target and camera calibration concept can be found in Li et al (2013).…”

Section: Camera Calibrationmentioning

confidence: 99%

Stereoscopic imaging of dusty plasmas

et al. 2016

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The fundamentals of stereoscopy and their application to dusty plasmas are described. It is shown that stereoscopic methods allow us to measure the three-dimensional particle positions and trajectories with high spatial and temporal resolution. The underlying technical implications are presented and requirements and limitations are discussed. The stereoscopic method is demonstrated for dust particles in dust-density waves under microgravity conditions.

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Fully Automatic Endoscope Calibration for Intraoperative Use

Cited by 48 publications

References 8 publications

Development and comparison of new hybrid motion tracking for bronchoscopic navigation

Development and comparison of new hybrid motion tracking for bronchoscopic navigation

Deformable Registration of Bronchoscopic Video Sequences to CT Volumes with Guaranteed Smooth Output

Stereoscopic imaging of dusty plasmas

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