Endoscopic Navigation Based on Three-dimensional Structure Registration

Surgical navigation is challenging on complicated multi-branch structures such as intrarenal collecting systems or bronchi. The objective of this work is to help surgeons quickly establish the corresponding relationship between intraoperative endoscopic images and preoperative CT data. An endoscopic navigation method is proposed based on three-dimensional structure registration. It mainly includes three sections. First, a reconstruction method is presented to obtain three-dimensional information of porous structures from endoscopic images. It combines image enhancement, structure-from-motion and template matching. Second, a hole search strategy based on slicing is given for detecting and extracting three-dimensional porous structures from CT data. Third, a similarity measurement algorithm is developed for registering endoscopic images to CT data. The performance of this work is evaluated on the data from the ureteroscopic holmium laser lithotripsy and the results show its accuracy, robustness and time cost.