A rapid method for compensating registration error between tracker and endoscope in flexible neuroendoscopic surgery navigation system

Zhengang Jiang; Yukitaka Nimura; Takayuki Kitasaka; Yuichiro Hayashi; Eiji Ito; Masazumi Fujii; Tetsuya Nagatani; Yasukazu Kajita; Toshiko Wakabayashi; Kensaku Mori

doi:10.1117/12.844577

3 March 2010 A rapid method for compensating registration error between tracker and endoscope in flexible neuroendoscopic surgery navigation system

Zhengang Jiang, Yukitaka Nimura, Takayuki Kitasaka, Yuichiro Hayashi, Eiji Ito, Masazumi Fujii, Tetsuya Nagatani, Yasukazu Kajita, Toshiko Wakabayashi, Kensaku Mori

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Proceedings Volume 7625, Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling; 762521 (2010) https://doi.org/10.1117/12.844577
Event: SPIE Medical Imaging, 2010, San Diego, California, United States

Abstract

This paper proposes a rapid method for compensating registration error between the tracker and the endoscope in a flexible neuroendoscopic surgery navigation system, as well as evaluates the accuracy of the proposed method. Recently, flexible neuroendoscopic surgery navigation systems have been developed utilizing an electromagnetic tracker (EMT). In such systems, an electromagnetic tracker sensor is fixed at the tip of a flexible endoscope to get the position and the orientation of the endoscope camera by using the relationship between the camera and the sensor. Usually, the relationship is estimated by a registration method using a calibration chart. Then, virtual images corresponding to real endoscopic views are generated by using the position and orientation of the camera. However, in the clinical application, the sensor has to be re-fixed before or during the surgery due to its disinfection or breakage. Although the sensor can be re-fixed at the same position as the registered position, it is difficult to ensure the roll of sensor in the same because the senor is a cylinder. Furthermore, the sensor can also be rotated by the operation of tools during surgery. As a result, the virtual images will be rotated and become greatly different from the real endoscopic views. In this case, the relationship between camera and sensor has to be re-estimated by a registration method or manually, which makes the operation of endoscope complicated and nonfeasible. In order to overcome this problem, we proposed a rapid method for compensating the rotational error between real and virtual cameras using the epipolar geometry. In this study, various experiments of the method are performed in order to evaluate and to improve its accuracy. Experimental results suggested estimation accuracy can be improved by reducing the relative error of EMT outputs, and it is necessary to ensure the quality of images which are used in the estimation.

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Zhengang Jiang, Yukitaka Nimura, Takayuki Kitasaka, Yuichiro Hayashi, Eiji Ito, Masazumi Fujii, Tetsuya Nagatani, Yasukazu Kajita, Toshiko Wakabayashi, and Kensaku Mori "A rapid method for compensating registration error between tracker and endoscope in flexible neuroendoscopic surgery navigation system", Proc. SPIE 7625, Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling, 762521 (3 March 2010); https://doi.org/10.1117/12.844577

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