A registration framework for preoperative CT to intraoperative white light images
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25 November 2022
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A registration framework for image-guided robotic surgery is proposed for three major neurosurgical procedures. The registration uses preoperative CT images and intraoperative white light camera images as modalities. A point-based rigid body registration based on the manual identification of homologous anatomical features in CT and white light images is used. A clinical accuracy of 5 mm is considered sufficient for the three procedures. Tests with CT data and projection views from a surface rendered CT model gave a maximum RMS registration error of 0.68 mm when tested over fifteen datasets. This paper discusses the proposed framework and the results obtained from preliminary tests on simulated data.
