Fast model-image registration using a two-dimensional distance map for surgical navigation system

This paper presents a new registration algorithm of two-dimensional (2-D) color images and 3-D geometric models for the navigation system of a surgical robot. A 2-D-3-D registration procedure is used to precisely superimpose a tumor model on an endoscopic image and is, therefore, indispensable for the surgical navigation system. Thus, the performance of the 2-D-3-D registration procedure influences directly the usability of the surgical robot operating system. One of the typical techniques that has been developed is the use of external markers. However, the accuracy of this method is reduced by the breathing or heartbeat of the patient, as well as other unknown factors. For precise registration of 3-D models and 2-D images without external markers or special measurement devices, a new registration method is proposed that utilizes the 2-D images and their distance maps as created by the Fast Marching Method. Here, we present results of fundamental experiments performed using simulated models and actual images of the endoscopic operation.