An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualization

Grimson, W. Eric L.; Ettinger, Gil J.; White, Steven; Lozano-Pérez, Tomás; Wells, William M.; Kikinis, Ron

doi:10.1109/42.491415

Cited by 264 publications

(109 citation statements)

References 27 publications

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“…Our paper's method does not provide guidance for what the physician does once a desired diagnostic site is reached: this requires local on-site guidance. We, along with others, have demonstrated an image-fusion approach for providing guidance at a site [23,24,45]. But as mentioned in "Introduction", other devices exist for providing both global and local guidance of bronchoscopy.…”

Section: Discussionmentioning

confidence: 94%

“…As mentioned previously, this method has been verified extensively on numerous phantom and live animal studies and also on many human lung-cancer patients [20,23,24]. Mutual information has seen extensive application to medical image registration with a well-developed theory [45,46]. The concept of NMI was first proposed by Studholme et al [47].…”

Section: Registrationmentioning

confidence: 96%

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Combined video tracking and image-video registration for continuous bronchoscopic guidance

2008

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Objective Three-dimensional (3D) computed-tomography (CT) images and bronchoscopy are commonly used tools for the assessment of lung cancer. Before bronchoscopy, the physician first examines a 3D CT chest image to select pertinent diagnostic sites and to ascertain possible routes through the airway tree leading to each site. Next, during bronchoscopy, the physician maneuvers the bronchoscope through the airways, basing navigation decisions on the live bronchoscopic video, to reach each diagnostic site. Unfortunately, no direct link exists between the 3D CT image data and bronchoscopic video. This makes bronchoscopy difficult to perform successfully. Existing methods for the image-based guidance of bronchoscopy, either only involve single-frame registration or operate at impractically slow frame rates. We describe a method that combines the 3D CT image data and bronchoscopic video to enable continuous bronchoscopic guidance. Methods The method interleaves periodic CT-video registration with bronchoscopic video motion tracking. It begins by using single-frame CT-video registration to register the "Real World" of the bronchoscopic video and the "Virtual World" of the CT-based endoluminal renderings. Next, the method uses an optical-flow-based approach to track bronchoscope movement for a fixed number of video frames and also simultaneously updates the virtual-world position. This process of registration and tracking repeats as the bronchoscope moves.Results The method operates robustly over a variety of phantom and human cases. It typically performs successfully for over 150 frames and through multiple airway generations. In our tests, the method runs at a rate of up to seven frames per second. We have integrated the method into a complete system for the image-based planning and guidance of bronchoscopy. Conclusion The method performs over an order of magnitude faster than previously proposed image-based bronchoscopy guidance methods. Software optimization and a modest hardware improvement could enable real-time performance.

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Section: Discussionmentioning

confidence: 94%

Section: Registrationmentioning

confidence: 96%

Combined video tracking and image-video registration for continuous bronchoscopic guidance

2008

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“…1) 1,3,9,31 . Charge-coupled-device (CCD) cameras (KP-M1, Hitachi Denshi, Tokyo, Japan) and light-emitting diodes (LEDs) were used for the optical tracking system.…”

Section: Methodsmentioning

confidence: 99%

A new navigation system based on cephalograms and dental casts for oral and maxillofacial surgery

Tsuji

Noguchi

Shigematsu

et al. 2006

International Journal of Oral and Maxillofacial Surgery

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“…Different techniques are applied to this end, for example navigation systems [4,8] where surgical data and guidance are shown. In addition, overlay systems have been developed in order to display the surgical images directly to the patient.…”

Section: Introductionmentioning

confidence: 99%

Design and clinical evaluation of an image-guided surgical microscope with an integrated tracking system

et al. 2007

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A new image-guided microscope system using augmented reality image overlays has been developed. With this system, CT cut-views and segmented objects such as tumors that have been previously extracted from preoperative tomographic images can be directly displayed as augmented reality overlays on the microscope image. The novelty of this design stems from the inclusion of a precise mini-tracker directly on the microscope. This device, which is rigidly mounted to the microscope, is used to track the movements of surgical tools and the patient. In addition to an accuracy gain, this setup offers improved ergonomics since it is much easier for the surgeon to keep an unobstructed line of sight to tracked objects. We describe the components of the system: microscope calibration, image registration, tracker assembly and registration, tool tracking, and augmented reality display. The accuracy of the system has been measured by validation on plastic skulls and cadaver heads, obtaining an overlay error of 0.7 mm. In addition, a numerical simulation of the system has been done in order to complement the accuracy study, showing that the integration of the tracker onto the microscope could lead to an improvement of the accuracy to the order of 0.5 mm. Finally, we describe our clinical experience using the system in the operation room, where three operations have been performed to date.

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An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualization

Cited by 264 publications

References 27 publications

Combined video tracking and image-video registration for continuous bronchoscopic guidance

Combined video tracking and image-video registration for continuous bronchoscopic guidance

A new navigation system based on cephalograms and dental casts for oral and maxillofacial surgery

Design and clinical evaluation of an image-guided surgical microscope with an integrated tracking system

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