Direct Video-CT Registration for High-Precision Surgical

描述（由申请人提供）：该项目的目标是证明将内窥镜视频直接注册到术前CT是提高当前手术导航系统精度和实用性的可行途径。这些结果将为在前颅骨手术中开发高精度术中导航和可视化的新方法奠定基础。这个探索性的应用程序特别侧重于开发和评估基于图像的结构和运动恢复算法，以及视频/CT配准算法，用于具有代表性的一类标本。我们将与我们的医师合作伙伴密切合作，根据以下具体目标进行算法开发和验证：具体目标1：从内窥镜图像计算表面结构。从图像序列中实现和评估计算内窥镜运动和周围组织几何结构的算法。根据地面真值模型评估运动和结构数据的准确性。2.具体目标2：术前CT与内窥镜图像的配准。实现和评估用于将特定目标1的三维（3D）内窥镜数据与术前CT图像分割的表面进行配准的算法。评估注册过程的可靠性和准确性。3. 具体目标3：对当前手术导航系统的准确性评估：在动物尸体模型上进行测试，以评估现实情况下内窥镜配准的准确性，并将其与现有手术导航系统的准确性进行比较。这种探索性/发展性应用为高精度导航和可视化实现新的临床治疗奠定了基础。它还将为高度精确、术中更新的手术野表面模型、术中测量的新方法以及可能的无跟踪器导航系统提供基础。

DESCRIPTION (provided by applicant): The goal of this project is to demonstrate that direct registration of endoscopic video to pre-operative CT is a viable route to increasing the precision and usefulness of current surgical navigation systems. These results will set the stage for developing new approaches to high precision intra-operative navigation and visualization in anterior skull surgery. This exploratory application is specifically focused on developing and evaluating image-based structure and motion recovery algorithms and video/CT registration algorithms on a representative class of specimens. Working closely with our physician collaborator, we will perform algorithm development and validation according to the following specific aims: 1. Specific Aim 1: Compute surface structure from endoscopic images. Implement and evaluate algorithms for computing the motion of the endoscope and the geometric structure of the surrounding tissue from sequences of images. Evaluate the accuracy of motion and structure data against ground truth models. 2.Specific Aim 2: Registration of pre-operative CT to endoscopic images. Implement and evaluate algorithms for registering the three-dimensional (3D) endoscope data of specific aim 1 with surfaces segmented from pre-operative CT images. Evaluate the reliability and accuracy of this registration process. 3. Specific Aim 3: Accuracy evaluation against current surgical navigation systems: Perform tests on an animal cadaver model to evaluate the accuracy of endoscopic registration in realistic circumstances, and compare that accuracy with existing surgical navigation systems. This exploratory/developmental application sets the stage for new clinical treatments enabled by high- precision navigation and visualization. It also will provide the basis for highly accurate, intra-operatively updated surface models of the surgical field, new methods of intra-operative measurement, and possibly tracker-free navigation systems.