Robust registration procedures for endoscopic imaging.

This paper presents a robust algorithm for calibration and system registration of endoscopic imaging devices. The system registration allows us to map accurately each point in the world coordinate system into the endoscope image and vice versa to obtain the world line of sight for each image pixel. The key point of our system is a robust linear algorithm based on singular value decomposition (SVD) for estimating simultaneously two unknown coordinate transformations. We show that our algorithm is superior in terms of robustness and computing efficiency to iterative procedures based on Levenberg-Marquardt optimization or on quaternion approaches. The algorithm does not require the calibration pattern to be tracked. Experimental results and simulations verify the robustness and usefulness of our approach. They give an accuracy of less than 0.7 mm and a success rate >99%. We apply the calibrated endoscope to the neurosurgical relevant case of red out, where in spite of the complete loss of vision the surgeon gets visual aids in the endoscope image at the actual position, allowing him/her to manoeuvre a coagulation fibre into the right position. Finally, we outline how our registration algorithm can be used also for standard registration applications (establish the mapping between two sets of points). We propose our algorithm as a linear, non-iterative algorithm also for projective transformations and for 2D-3D-mappings. Thus, it can be seen as a generalization of the well-known Umeyama registration algorithm.

Application of a newly developed visual navigation system in humans. First results.

A visual navigation system (VN) was developed which uses intraoperatively stored endoscopic images together with their specific 3D-address. A special calibration enables one to recalculate the distortion of the endoscopic images. Several modules (e. g., landmark tracking, virtual back-movement) are offered to the neurosurgeon. The system was tested in 12 human subjects during neuroendoscopic interventions and worked without problems in nearly all cases. The possibilities of digital image navigation can be used especially for control of instrument movement in case of red-out situations or blurred vision. Many further developments of the VN system are possible in order to increase the safety of neuroendoscopic interventions.

Consideration of ergonomic aspects in the development of a new endoscopic navigation system.

During the development of new navigation systems, the ergonomic aspects of the accompanying software are seldom taken into account. The VN system is a navigation system working with real and previously stored neuroendoscopic images. The latter enable the module to execute virtual back movement, e.g. in case of bleeding. Several other modules are offered. The aim of the study was the ergonomic analysis of different modules and their learning curves in cadaveric heads. The endoscope was navigated by the neurosurgeon while another person operated the computer. A total of 128 experiments were performed with two software versions. When the landmark tracking module was used, a real learning curve could be observed. By contrast, testing the measurement module did not produce a learning curve. A significant reduction of the time required by the three modules investigated could be observed with software version 2. The module for virtual back movement works best with a minimum time of 20 s for image storage. During machine-human interactions ergonomic software use is important, especially if operative procedures are performed.

Virtual image navigation: a new method to control intraoperative bleeding in neuroendoscopic surgery. Technical note.

In this neuroendoscopic study the authors tested the newly developed "red-out module" of their visual navigation system that enables the neurosurgeon to achieve hemostasis if total visualization is lost due to hemorrhage ("red out") within the visual field. An optical position measurement system connected to the endoscope guarantees that digitized endoscopic images are coupled with the accurate endoscopic position. Computerized images are simultaneously stored with their respective position data, and this creates a virtual anatomical landscape. The system was tested in in vivo bleeding conditions in a rat model. Artificial endoscopic cavities were created in the inguinal, pelvic, and jugular regions in rats to imitate the conditions of the human ventricular system. Two experimental settings were tested: Technique I, in which a computer landmark has been previously determined at the point where the vessel will be lesioned; and Technique II, in which a landmark has been previously set in the surrounding area of the vessel. Immediately after hemorrhage obscures the visual field (red out), the computer automatically displays the virtual images on a separate monitor. The previously set landmarks and the graphic overlay of the coagulation fiber enable the surgeon to navigate within the operative field based on the virtual images and to perform coagulation at the site of the lesion. A total of 175 vessels were coagulated: 43 arteries and 132 veins. In using Technique I, 130 (90.9%) of 143 vessels and in using Technique II, 26 (81.2%) of 32 arteries were successfully coagulated. The authors' data revealed that virtual image guidance has the potential to be a helpful tool in neuroendoscopy.

Development of an endoscopic navigation system based on digital image processing.

We developed a new system to couple the endoscope to an optical position measurement system (OPMS) so that the image frames from the endoscope camera can be labeled with the accurate endoscopic position. This OPMS is part of the EasyGuide Neuro navigation system, which is used for microsurgery and neuroendoscopy. Using standard camera calibration techniques and a newly developed system calibration, any 3-dimensional (3-D) world point can be mapped onto the view from the endoscope. In particular, we can display the coordinates of any anatomical landmark of the patient as it is viewed from the current position of the camera. This and other image-processing techniques are applied to the labeled frame sequence in order to offer the neurosurgeon a variety of control modules that increase the safety and flexibility of neuroendoscopic operations. Several modules, including a new motion alarm system and the "tracking" and "virtual map" modules, were tested in a human cadaveric model using the frontal and occipital approaches. A failure rate of 8.6% was experienced during testing of the first version of the software, but the second version was 100% successful. Thus, an endoscopic navigation system based on digital image processing has been developed that could be a revolutionary advance in image-guided surgery.

The VN project: endoscopic image processing for neurosurgery.

We developed a navigation support system for endoscopic interventions that allows three-dimensional (3-D) information to be extracted from endoscopic video data and superimposed onto such live video sequences. The endoscope is coupled to a position measurement system and a video camera as components of a calibrated system. In this article we show that the radial distortions of the wide-angle endoscopic lens system can be successfully corrected and an overall accuracy of about 0.7 mm is achievable. Tracking on live endoscopic video sequences allows accurate 3-D depth data to be obtained from multiple camera views.