2015
DOI: 10.1117/12.2081732
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Rendering-based video-CT registration with physical constraints for image-guided endoscopic sinus surgery

Abstract: We present a system for registering the coordinate frame of an endoscope to pre- or intra- operatively acquired CT data based on optimizing the similarity metric between an endoscopic image and an image predicted via rendering of CT. Our method is robust and semi-automatic because it takes account of physical constraints, specifically, collisions between the endoscope and the anatomy, to initialize and constrain the search. The proposed optimization method is based on a stochastic optimization algorithm that e… Show more

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Cited by 10 publications
(13 citation statements)
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“…In endoscope-CT registration, combinations of different intensity-based schemes such as cross-correlation, squared intensity difference, pattern intensity, normalised and gradient mutual information have shown promising results 40,41 . Similarly, feature-based schemes involving natural landmarks, contour based feature points, iterative closest point and k-means clustering have also been exploited [42][43][44] . The main challenge of our system was the low similarity between the multi-modal images.…”
Section: Discussionmentioning
confidence: 99%
“…In endoscope-CT registration, combinations of different intensity-based schemes such as cross-correlation, squared intensity difference, pattern intensity, normalised and gradient mutual information have shown promising results 40,41 . Similarly, feature-based schemes involving natural landmarks, contour based feature points, iterative closest point and k-means clustering have also been exploited [42][43][44] . The main challenge of our system was the low similarity between the multi-modal images.…”
Section: Discussionmentioning
confidence: 99%
“…Tracking patient motion may be necessary in some contexts that demand surgical precision or when surgery results in extensive surface motion, such as in external eye surgery [74]. At a granular level, tracking changes in tissue during surgery is more challenging with deformable soft tissue [75], [76] than with rigid anatomical structures such as the paranasal sinuses [77]. Beyond the patient, several methods to estimate motion or changes in pose of surgical instruments using video images and/or kinematics have been developed [78], for example, in minimally invasive surgery [79], [80], open surgery [81], microsurgery [82], endoscopy [83], bronchoscopy [84], and laser surgery [85].…”
Section: Examples and Potential Applicationsmentioning
confidence: 99%
“…The maximum registration error for IG-FESS that is most commonly found in the literature is 2 mm 7, 8 and accuracy of less than 1.5 mm have been reported for modern navigation systems. 9 Recently, an image-based registration method achieved reprojection error 0.7 mm 10 but this methods require an initial registration to function.…”
Section: Introductionmentioning
confidence: 95%