In traditional image-guided sinus surgery, an endoscope tip is located via the tracking of markers mounted at the proximal visible end of the endoscope, however, any slight discrepancy in marker tracking is greatly magnified by the telescopic nature of the endoscope.To address this problem, two stages of tracking are proposed to achieve accuracies in this research.In preliminary tracking, traditional marker tracking is employed to estimate the rotation matrix, whereas in the stage of fine tracking, the translation matrix is calculated by tracking sequential endoscopic images.The proposed system can help a surgeon to navigate the instrument to the targeted site more accurately, hence, our approach can make a much safer surgery for patients.
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