A System for Video-Based Navigation for Endoscopic Endonasal Skull Base Surgery
A System for Video-Based Navigation for Endoscopic Endonasal Skull Base Surgery
复制标题
用于内窥镜鼻内颅底手术的基于视频的导航系统
DOI：
10.1109/tmi.2011.2176500
复制
发表时间：
2012-04-01
影响因子：
10.6
通讯作者：
Hager, Gregory D.
中科院分区：
文献类型：
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作者：
Mirota, Daniel J.;Wang, Hanzi;Hager, Gregory D.
颅底手术需要精确度才能安全地导航到关键的解剖结构。尤其是鼻内窥镜颅底手术(ESB)，外科医生在颅底神经血管结构的毫米范围内工作。今天的导航系统提供了大约2毫米的精度。精度受到导航系统、图像和患者之间间接关系的限制。我们提出了一种利用内窥镜摄像头获取的视频数据直接跟踪内窥镜位置的方法。我们的方法首先跟踪视频中的图像特征点，然后重建图像特征点以产生3D点，然后将重建的点云配准到根据术前CT数据分割的曲面上。在初始配准之后，系统跟踪图像特征并保持图像特征和3D位置的2D-3D对应。然后使用这些数据来更新当前的摄影机姿势。我们提出了一种方法来验证我们的系统，获得了亚毫米(平均0.70毫米)的目标配准误差(TRE)结果。
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.