Fast image mapping of endoscopic image mosaics with three-dimensional ultrasound image for intrauterine fetal surgery

Hongen Liao*, Masayoshi Tsuzukic, Takashi Mochizukid, Etsuko Kobayashic, Toshio Chibae & Ichiro Sakumaa Department of Bioengineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japanb Translational Systems Biology and Medicine Initiative, The University of Tokyo, Tokyo, Japanc Department of Precision Engineering, Graduate School of Engineering, The University of Tokyo, Tokyo, Japand Aloka Co., LTD., Japane National Center for Child Health and Development, JapanCorrespondence: Hongen Liao, Department of Bioengineering, Graduate School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan; +81-3-5841-6461; liao@bmpe.t.u-tokyo.ac.jpThis paper describes a fast image mapping system that integrates endoscopic image mosaics with three-dimensional (3-D) ultrasound images for assisting intrauterine laser photocoagulation treatment. Endoscopic laser photocoagulation treatment has a good survival rate and a low complication rate for twins. However, the small field of view and lack of surrounding information makes the identification of vessel anastomosis difficult. We have developed an extended visualization system with the fusion of endoscopic image mosaics with a 3-D ultrasound-image model. Fully automatic and fast calibration is used for endoscope calibration in fluid. The 3-D spatial position of the endoscopic images and the ultrasound image are tracked by a 3-D position tracking device. The mosaiced endoscope images are registered to the surface of the 3-D ultrasound placenta model by using a fast GPU-based image rendering method and a seamless multi-images processing. Experimental results show that the system may provide an improved and efficient way of planning and guidance in laser photocoagulation treatment.