Hybrid Navigation Information System for Minimally Invasive Surgery -Phase I: Offline Sensors Registration

Computed Tomography (CT)/Magnetic Resonance Imaging (MRI) provide high quality images of the inside of the patient body [2]. Surgical planning may involve getting insight of patient anatomy, analyzing it, and developing the effective treatment approach [2]. The preoperative images expire within minutes because the intraoperative environment changes continuously due to manipulation by surgeon or organ movement. Hence an intraoperative imaging system with navigation mechanism is required to provide the real-time changes in the map provided by the preoperative data [2]. The process of registration/calibration is needed to transform a point/ collection of points from one coordinate frame to another. Thus, one can acquire all the data in a single coordinate frame for the purpose of data fusion in order to achieve more accurate and informative results than what single sensor can provide.