A system for video-Based navigation for endoscopic endonasal skull base surgery

Research output: Contribution to journalArticlepeer-review

39 Scopus citations


Surgeries of the skull base require accuracy to safely navigate the critical anatomy. This is particularly the case for endoscopic endonasal skull base surgery (ESBS) where the surgeons work within millimeters of neurovascular structures at the skull base. Today's navigation systems provide approximately 2 mm accuracy. Accuracy is limited by the indirect relationship of the navigation system, the image and the patient. We propose a method to directly track the position of the endoscope using video data acquired from the endoscope camera. Our method first tracks image feature points in the video and reconstructs the image feature points to produce 3D points, and then registers the reconstructed point cloud to a surface segmented from preoperative computed tomography (CT) data. After the initial registration, the system tracks image features and maintains the 2D-3D correspondence of image features and 3D locations. These data are then used to update the current camera pose. We present a method for validation of our system, which achieves submillimeter (0.70 mm mean) target registration error (TRE) results.

Original languageEnglish (US)
Article number6084839
Pages (from-to)963-976
Number of pages14
JournalIEEE transactions on medical imaging
Issue number4
StatePublished - Apr 2012


  • Endoscopy
  • image-guided treatment
  • registration
  • surgical guidance/navigation

ASJC Scopus subject areas

  • Software
  • Radiological and Ultrasound Technology
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'A system for video-Based navigation for endoscopic endonasal skull base surgery'. Together they form a unique fingerprint.

Cite this