A New Framework for Fusing Stereo Images with Volumetric Medical Images

Some medical interventions require knowing the correspondence between an MRI/CT image and the actual position of the patient. Examples are in neurosurgery or radiotherapy, but also in video surgery (laparoscopy). Recently, computer vision techniques have been proposed to find this correspondence without any artificial markers. Following the pioneering work of [GLPI+94], [CZH+94], [CDT+92], [SHK94] and [STAL94], we propose in this paper an alternative approach.

[1]  Andrew Zisserman,et al.  Geometric invariance in computer vision , 1992 .

[2]  Gérard G. Medioni,et al.  Object modelling by registration of multiple range images , 1992, Image Vis. Comput..

[3]  G. Champleboux,et al.  From accurate range imaging sensor calibration to accurate model-based 3D object localization , 1992, Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[4]  Jean-Claude Latombe,et al.  Planning for Image-Guided Radiosurgery , 1994 .

[5]  Lionel Brunie,et al.  IGOR : image guided operating robot. Methodology, medical applications, results , 1992 .

[6]  W. Eric L. Grimson,et al.  An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualization , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[7]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[8]  Gérard G. Medioni,et al.  Object modeling by registration of multiple range images , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[9]  L. Gool,et al.  Semi-differential invariants , 1992 .

[10]  P. Cinquin,et al.  Computer assisted medical interventions , 1995 .

[11]  Derek L. G. Hill,et al.  Craniotomy simulation and guidance using a stereo video based tracking system (VISLAN) , 1994, Other Conferences.

[12]  Olivier D. Faugeras,et al.  Computing differential properties of 3-D shapes from stereoscopic images without 3-D models , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[13]  P. Cinquin,et al.  IGOR: image guided operating robot , 1991, Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments.

[14]  T Kanade,et al.  Techniques for fast and accurate intrasurgical registration. , 1995, Journal of image guided surgery.

[15]  Nicholas Ayache,et al.  Artificial vision for mobile robots - stereo vision and multisensory perception , 1991 .

[16]  Richard Szeliski,et al.  Matching 3-D smooth surfaces with their 2-D projections using 3-D distance maps , 1991, Optics & Photonics.