| 摘要 |
An endoscopic surgical navigation system comprises a tracking subsystem to capture data representing positions and orientations of a flexible endoscope during an endoscopic procedure, to allow coregistration of live endoscopic video with intra-operative and/or pre-operative scan images. Positions and orientations of the endoscope are detected using one or more sensors and/or other signal-producing elements disposed on the endoscope. The sensors may include electromagnetic sensors, optical curvature sensors, or a combination thereof. Output signals of the sensors can be routed to the tracking subsystem through the light channel in the endoscope. A hybrid approach can be used to separately track the position and orientation of the (rigid) base and the flexible portion of the endoscope. |
