Matching Endoscopic 3D Image Data with 4D Echocardiographic Data for Extended Reality Support in Mitral Valve Repair Surgery

Minimally invasive mitral valve repair is a common cardiac surgery procedure. Combining intraoperative stereo-endoscopic images with pre-operative 4D transesophageal echocardiography (TEE) can support surgeons in correlating surgical interventions with the functional implications in the beating heart. We propose a method for registering 3D point clouds reconstructed from endoscopic images with TEE by extracting and matching anatomical landmarks and refining the registration using the Iterative Closest Point Algorithm. The applicability of our method is assessed by the computation time and the registration accuracy.