An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualization

There is a need for frameless guidance systems to help surgeons plan the exact location for incisions, to define the margins of tumors, and to precisely identify locations of neighboring critical structures. We have developed an automatic technique for registering clinical data, such as segmented magnetic resonance imaging (MRI) or computed tomography (CT) reconstructions, with any view of the patient on the operating table. We demonstrate on the specific example of neurosurgery. The method enables a visual mix of live video of the patient and the segmented three-dimensional (3-D) MRI or CT model. This: supports enhanced reality techniques for planning and guiding neurosurgical procedures and allows us to interactively view extracranial or intracranial structures nonintrusively. Extensions of the method include image guided biopsies, focused therapeutic procedures, and clinical studies involving change detection over time sequences of images.