Paper Info
Title
Soft tissue navigation for laparoscopic prostatectomy: evaluation of camera pose estimation for enhanced visualization
Abstract
We introduce a novel navigation system to support minimally invasive prostate surgery. The system utilizes transrectal ultrasonography (TRUS) and needle-shaped navigation aids to visualize hidden structures via Augmented Reality. During the intervention, the navigation aids are segmented once from a 3D TRUS dataset and subsequently tracked by the endoscope camera. Camera Pose Estimation methods directly determine position and orientation of the camera in relation to the navigation aids. Accordingly, our system does not require any external tracking device for registration of endoscope camera and ultrasonography probe. In addition to a preoperative planning step in which the navigation targets are defined, the procedure consists of two main steps which are carried out during the intervention: First, the preoperatively prepared planning data is registered with an intraoperatively acquired 3D TRUS dataset and the segmented navigation aids. Second, the navigation aids are continuously tracked by the endoscope camera. The camera's pose can thereby be derived and relevant medical structures can be superimposed on the video image. This paper focuses on the latter step. We have implemented several promising real-time algorithms and incorporated them into the Open Source Toolkit MITK (www.mitk.org). Furthermore, we have evaluated them for minimally invasive surgery (MIS) navigation scenarios. For this purpose, a virtual evaluation environment has been developed, which allows for the simulation of navigation targets and navigation aids, including their measurement errors. Besides evaluating the accuracy of the computed pose, we have analyzed the impact of an inaccurate pose and the resulting displacement of navigation targets in Augmented Reality.
Year
DOI
Venue
2007
10.1117/12.709655
Proceedings of SPIE
Keywords
Field
DocType
image-guided therapy,prostate surgery,enhanced reality,camera pose estimation
Endoscope,Computer vision,Visualization,Prostate surgery,Navigation system,Pose,Laparoscopic Prostatectomy,Augmented reality,Artificial intelligence,Image-Guided Therapy,Engineering
Conference
Volume
ISSN
Citations 
6509
0277-786X
4
PageRank 
References 
Authors
0.50
0
9
Name
Order
Citations
PageRank
Matthias Baumhauer110611.78
t simpfendorfer240.50
r schwarz340.50
A Seitel4152.57
Beat P. Müller-Stich57912.09
C. N. Gutt6627.28
Jens Rassweiler7153.54
h p meinzer8111.55
Ingrid De Wolf93816.52