@inproceedings{61c747aca80547f2b6ce6d9eaf84271c,
title = "Direct endoscopic video registration for sinus surgery",
abstract = "Advances in computer vision have made possible robust 3D reconstruction of monocular endoscopic video. These reconstructions accurately represent the visible anatomy and, once registered to pre-operative CT data, enable a navigation system to track directly through video eliminating the need for an external tracking system. Video registration provides the means for a direct interface between an endoscope and a navigation system and allows a shorter chain of rigid-body transformations to be used to solve the patient/navigation- system registration. To solve this registration step we propose a new 3D-3D registration algorithm based on Trimmed Iterative Closest Point (TrICP)1 and the z-buffer algorithm.2 The algorithm takes as input a 3D point cloud of relative scale with the origin at the camera center, an isosurface from the CT, and an initial guess of the scale and location. Our algorithm utilizes only the visible polygons of the isosurface from the current camera location during each iteration to minimize the search area of the target region and robustly reject outliers of the reconstruction. We present example registrations in the sinus passage applicable to both sinus surgery and transnasal surgery. To evaluate our algorithm's performance we compare it to registration via Optotrak and present closest distance point to surface error. We show our algorithm has a mean closest distance error of 2268mm.",
keywords = "Endoscope procedures, Localization and tracking technologies, Registration",
author = "Daniel Mirota and Taylora, {Russell H.} and Masaru Ishii and Hagera, {Gregory D.}",
year = "2009",
doi = "10.1117/12.812334",
language = "English (US)",
isbn = "9780819475121",
series = "Progress in Biomedical Optics and Imaging - Proceedings of SPIE",
booktitle = "Medical Imaging 2009",
note = "Medical Imaging 2009: Biomedical Applications in Molecular, Structural, and Functional Imaging ; Conference date: 08-02-2009 Through 10-02-2009",
}