A Laparoscopic Liver Navigation Pipeline with Minimal Setup Requirements

Research output: Contribution to book/conference proceedings/anthology/reportConference contributionContributedpeer-review


In the case of liver tumor resections, Minimally Invasive Surgery (MIS) poses several benefits over open surgery. However, MIS makes navigating the surgical scene considerably more challenging, which hampers the realization of its full potential. Many Image Guidance Navigation Systems (IGS) have been proposed to overcome these challenges. The majority of these depend on optical tracking systems, whose additional setup overhead is a barrier to clinical translation. In this paper we put forward an IGS prototype which eliminates the need for optical tracking, and additionally incorporates a user-oriented camera calibration method which is more reliable and faster than typical checkerboard methods. We lastly make publicly available the core system modules for 3D reconstruction and rigid registration.


Original languageEnglish
Title of host publicationBioCAS 2022 - IEEE Biomedical Circuits and Systems Conference: Intelligent Biomedical Systems for a Better Future, Proceedings
PublisherIEEE Xplore
Number of pages5
ISBN (electronic)9781665469173
ISBN (print)978-1-6654-6918-0
Publication statusPublished - 15 Oct 2022


Title2022 IEEE Biomedical Circuits and Systems Conference
SubtitleIntelligent Biomedical Systems for a Better Future
Abbreviated titleBioCAS 2022
Duration13 - 15 October 2022
LocationCYFF International Convention Center & online
CountryTaiwan, Province of China

External IDs

Mendeley de94b7c6-7991-3c70-b27c-c92b91b87b2d
Scopus 85142927756
ORCID /0000-0003-2265-4809/work/149798320



  • Biomedical optical imaging, Three-dimensional displays, Minimally invasive surgery, Navigation, Operating systems, Pipelines, Liver, Image guided surgery, Computer assisted surgery, Robot Operating System, Robotic liver surgery, Computer assisted navigation, Augmented reality, Laparoscopic liver resection, Machine vision