Image mapping of untracked free-hand endoscopic views to an ultrasound image-constructed 3D placenta model
Liangjing Yang1, Junchen Wang1, Etsuko Kobayashi1
1Graduate School of Engineering, The University of Tokyo, Tokyo, Japan.
Background:
This study presents a tracker-less image-mapping framework for surgical navigation motivated by the clinical need for intuitive visual guidance during minimally invasive fetoscopic surgery.
Methods:
A navigation framework mapping 2D endoscopic vision to a 3D ultrasound image model is proposed. This maps an endoscopic image onto a 3D placenta model through a one-time ultrasound image-based localization method followed by a series of concurrent image alignments and texture mapping of the untracked endoscopic video stream.
Results:
The mean absolute error of our ultrasound image-based localization method was (1.63 mm, 0.93°). The simulation analysis reveals an upper bound mapping performance with a mean error of 1.53 mm. In a phantom experiment, the overall mapping performance is close to this accuracy and achieves a mean absolute error of 2 mm, thereby supporting the feasibility of this method.
Conclusion:
This novel integration of intraoperative visual guidance has potential contributions to innovative fusions of image guidance techniques for effective navigation in minimally invasive fetoscopic surgery.
