Image Navigation in Minimally Invasive Surgery

This study presents the development of an image navigation system dedicated to assist a miniinvasive abdominal surgery. First, the system overview is discussed. Then, a development of a mesh model of abdominal structure is presented. Next, a system calibration including the component as well as patient registration is described.The evaluation of the system has been performed separately for each component. The accuracy of calibration as well as patient registration is reported. This yields the robustnes evaluation of the overall system.