title: Inertial navigation system for bladder endoscopy.
abstract: The usage of video endoscopes in cystoscopic interventions of the urinary bladder impedes an intuitive navigation. Although image-based solutions such as panorama images can provide extended views of the surgical field, a real-time 3-D navigation is not supported. Furthermore, the integration of common tracking systems in ambulant clinics is often hindered due to low usability and high costs. Thus, we discuss in this paper a first low-cost inertial navigation system. Our evaluation results show that in spite of lower sensor accuracies, mean errors between < 1° and 4° are achieved for solid angles. Using endoscopes with different view angles we apply an extended endoscope model for an adaptive displacement correction. Furthermore, we implement a first guided navigation tool for tumor re-identification in real-time.
authors.affiliation: Faculty of Electrical Engineering and Information Technology, Institute of Imaging, & Computer Vision, RWTH Aachen University, Aachen 52062, Germany. behrens@lfb.rwth-aachen.de
authors.forename: Alexander
authors.initials: A
authors.lastname: Behrens
authors.forename: Jonathan
authors.initials: J
authors.lastname: Grimm
authors.forename: Sebastian
authors.initials: S
authors.lastname: Gross
authors.forename: Til
authors.initials: T
authors.lastname: Aach
mesh_terms: D000054:Acceleration; D017076:Computer-Aided Design; D015653:Cystectomy / Q000295:instrumentation* / Q000379:methods; D019723:Endoscopes; D004867:Equipment Design; D019544:Equipment Failure Analysis; D006801:Humans; D021621:Imaging, Three-Dimensional / Q000295:instrumentation* / Q000379:methods; D019047:Phantoms, Imaging; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014159:Transducers