Rendering of brain tumors using endoneurosonography

We have developed a method to render brain tumors from endoneurosonography. We propose to track an ultrasound probe in successive endoscopic images without relying on an external optic or magnetic tracking system. The probe is tracked using two different methods, one of them based on generalized Hough transform and the other one on particle filters. With the estimation of the pose of the ultrasound probe in several contiguous images we use conformal geometric algebra to compute the geometric transformations that yield the 3D position of the tumor, which was segmented in the ultrasound image using morphological operators. We have used images from brain phantoms to evaluate the performance of the proposed methods and our results show that they are robust.