Abstract
In the framework of the CRANIO project for Computer and Robot Aided Neurosurgery, a module for surgical navigation is being developed. In this contribution, we describe our approach towards an efficient registration of operating site with preoperative Computed Tomography (CT) images using 3D optical localizer system and a tracked A-mode ultrasound (US) probe. The registration plays the key role in defining the overall accuracy of the system, including robotic resection. However, apart from accuracy requirements, time efficiency, reliability and intuitiveness of the registration process are crucial for its application in clinical routine. The development of an optimal strategy comprises aspects of man–machine interaction as well as image and signal processing. We present results of our in-vitro and ex-vivo study as well as first in-vivo trials.
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