Endoscopic video texture mapping on pre-built 3-D anatomical objects without camera tracking

Xianwang Wang, Qing Zhang, Qiong Han, Ruigang Yang, Melody Carswell, Brent Seales, Erica Sutton

Research output: Contribution to journalArticlepeer-review

12 Scopus citations


Traditional minimally invasive surgeries use a view port provided by an endoscope or laparoscope. We argue that a useful addition to typical endoscopic imagery would be a global 3-D view providing a wider field of view with explicit depth information for both the exterior and interior of target anatomy. One technical challenge of implementing such a view is finding efficient and accurate means of registering texture images from the laparoscope on prebuilt 3-D surface models of target anatomy derived from magnetic resonance (MR) or computed tomography (CT) images. This paper presents a novel method for addressing this challenge that differs from previous approaches, which depend on tracking the position of the laparoscope. We take advantage of the fact that neighboring frames within a video sequence usually contain enough coherence to allow a 2-D2-D registration, which is a much more tractable problem. The texturing process can be bootstrapped by an initial 2-D3-D user-assisted registration of the first video frame followed by mostly-automatic texturing of subsequent frames. We perform experiments on phantom and real data, validate the algorithm against the ground truth, and compare it with the traditional tracking method by simulations. Experiments show that our method improves registration performance compared to the traditional tracking approach.

Original languageEnglish
Article number5196830
Pages (from-to)1213-1223
Number of pages11
JournalIEEE Transactions on Medical Imaging
Issue number6
StatePublished - Jun 2010

Bibliographical note

Funding Information:
Manuscript received May 13, 2009; accepted July 17, 2009. First published August 07, 2009; current version published June 03, 2010. This work was performed as part of a contract with the Maryland Advanced Simulation, Training, and Innovation Center at the University of Maryland Medical Center and was supported in part by the National Science Foundation under Grant HCC-0448185 and Grant CPA-0811647. Asterisk indicates corresponding author.


  • 3-D reconstruction
  • 3-D to 2-D registration
  • Computer-augmented reality
  • Minimally invasive surgery (MIS)

ASJC Scopus subject areas

  • Software
  • Radiological and Ultrasound Technology
  • Computer Science Applications
  • Electrical and Electronic Engineering


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