Estimation of intra-operative brain shift using a tracked laser range scanner

Intra-operative brain shift limits the usefulness of image-guided neurosurgery systems (IGNS), which are based on pre-operative images. Methods that are being developed to address this problem need intra-operative measurements as input. In this work, we present an intra-operative surface shift measurement technique that relies on a tracked 3D laser range scanner. This scanner acquires both 3D range data and 2D images, which are co-registered. We compare two methods to derive displacements at every point in the field of view. The first one relies on the registration of the 2D images; the second relies on the direct 3D registration of the 3D range data. Our results, based on five data sets, show that the 2D method is preferable.