2010 Summer Project Week Implementing OpenCV to Slicer3 for Neuroendoscopic Surgery

Jump to: navigation, search
Home < 2010 Summer Project Week Implementing OpenCV to Slicer3 for Neuroendoscopic Surgery

Key Investigators

  • Nagoya Institute of Technology: Atsushi Yamada
  • BWH: Nobuhiko Hata, Junichi Tokuda
  • Acknowledgement: K. Chinzei (AIST), Y. Hayashi (Nagoya Univ.), M. Komura (Nagoya Institute of Technology), J. Hong (Kyushu Univ.), S.M.Kim, Wang, S. Joung (Univ. of Tokyo), T. Takeuchi (SFC Corp.), H. Liu (BWH), and H. Fujimoto (Nagoya Institute of Technology).


The main goal of the OpenCV for nueroendoscopic surgery project is to provide a viewer of the video image as a secondary window of Slicer3 for surgeon as a robot operator. The secondary window can show overlaid volume data on the captured video image and it will be for stereo camera. The developed module will be able to provide the function of the camera calibration for single/stereo camera, too.

Approach, Plan

First, we calculate a camera calibration matrix and a compensation vector for lens distortion as XML files by utilizing StereoCalib module. The module is for single/stereo camera. In this module, especially for stereo camera, we will develop three types of the secondary window for some uses. These types will be changed dinamically.

Second, we apply these matrices and vectors of XML format to SecondaryWindowWithOpenCV module for video overlay. The position and orientation of the overlaid volume data can be controlled by using OpenIGTLink. SInce this module is for single camera, we will extend it for stereo camera.


StereoCalib module for calculation of single/stereo camera calibration matrices and the distortion compensation matrices is now available with only one type secondary window.

. Single camera calibration (http://files.me.com/slicer2010/od2bbr.mov)

. Stereo camera calibration (http://files.me.com/slicer2010/2wa8lc.mov)

. Dual display test using second and third display for stereo view on Slicer3 (http://files.me.com/slicer2010/2tofam.mov)

SecondaryWindowWithOpenCV module is now available only for a single camera as a viewer which can overlay volume data.

. Reading camera calibration matrix and distortion compensation vector (http://files.me.com/slicer2010/d27pqr.mov)

Delivery Mechanism


Yamada, A., K. Nishibori, Y. Hayashi, J. Tokuda, N. Hata, K. Chinzei and H. Fujimoto: 3D Slicer Based Surgical Robot Console System, Workshop on Systems and Architectures for Computer Assisted Interventions of the 2009 International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI2009), 2009.