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Camera-based instrument navigation in ENT-surgery

: Katanacho, Manuel; Uhlmann, Eckart

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Neumuth, T. ; Deutsche Gesellschaft für Computer- und Roboterassistierte Chirurgie -CURAC-:
CURAC 2018, 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie. Tagungsband : 13.-15. September 2018, Leipzig
Leipzig: Universität Leipzig, 2018
ISBN: 978-3-00-060786-8
Deutsche Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC Jahrestagung) <17, 2018, Leipzig>
Bundesministerium für Bildung und Forschung BMBF
KMU-innovativ; 13GW0039B; Visuelle Navigation
Conference Paper, Electronic Publication
Fraunhofer IPK ()
surgical navigation; visual navigation; computer vision

Algorithms for a camera-based surgical navigation system, with a localization based on the surface structure of the patients face, are developed and evaluated. The measurement technology is based on a single HD-camera that is integrated on a surgical instrument. Sophisticated and expensive state of the art systems are thus replaced by a software solution, which reduces the hardware costs and the space requirements in the operation room. A functional prototype is implemented and tested in a laboratory and an operating room. The challenge is to determine the camera’s pose from a camera live stream with a feature based approach, without additional markers on the patient. The core software modules are mapping, registration and localization. The root-mean-square error of the system varies between 2.4 mm and 6.4 mm dependent on the lighting conditions. By removing a systematic error from the registration process, the accuracy is improved to 1.3 mm to 2.0 mm.