摘要: This paper is the first discussion on the registration of intraoperative MRI (Magnetic Resonance Imaging) and endoscope using Northern Digital Inc’s Polaris (spatial measurement system) and MRI-compatible endoscope manipulator, to provide surgeon with real-time feedback of MRI to endoscope. In this paper, we have tested the accuracy of the registrations, using MRI-Endoscope-visible phantom whose geometry was known. Totally 3 different registration routes were tested. In the most accurate one, the phantom and endoscope were registered inside MRI-gantry. This had 0.4 mm average and 1.0 mm maximum error, but was supposed to be difficult, because the measurement inside narrow MRI-gantry was limited. In the worst accurate one, the endoscope-manipulator and phantom-bed were registered preoperatively outside MRI, and bed-manipulator was registered intraoperatively outside MRI. This had 2.9 …