title: Toward video-based navigation for endoscopic endonasal skull base surgery.
abstract: Endoscopic endonasal skull base surgery (ESBS) requires high accuracy to ensure safe navigation of the critical anatomy at the anterior skull base. Current navigation systems provide approximately 2 mm accuracy. This level of registration error is due in part from the indirect nature of tracking used. We propose a method to directly track the position of the endoscope using video data. Our method first reconstructs image feature points from video in 3D, and then registers the reconstructed point cloud to pre-operative data (e.g. CT/MRI). 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 registration results within 1 mm, which matches the accuracy of our validation framework.
authors.affiliation: Department of Computer Science, The Johns Hopkins University, Baltimore, MD, USA. dan@cs.jhu.edu
authors.forename: Daniel
authors.initials: D
authors.lastname: Mirota
authors.forename: Hanzi
authors.initials: H
authors.lastname: Wang
authors.forename: Russell H
authors.initials: RH
authors.lastname: Taylor
authors.forename: Masaru
authors.initials: M
authors.lastname: Ishii
authors.forename: Gregory D
authors.initials: GD
authors.lastname: Hager
mesh_terms: D000465:Algorithms; D003399:Craniotomy / Q000379:methods*; D004724:Endoscopy / Q000379:methods*; D006801:Humans; D007089:Image Enhancement / Q000379:methods; D007090:Image Interpretation, Computer-Assisted / Q000379:methods; D021621:Imaging, Three-Dimensional / Q000379:methods*; D009296:Nasal Cavity / Q000601:surgery*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D019291:Skull Base / Q000601:surgery*; D013382:Subtraction Technique; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014741:Video Recording / Q000379:methods*