Real-time endoscopic image stitching for cystoscopy

For the diagnosis and treatment of a variety of diseases, endoscopic procedures are associated with several benefits for the patient, such as reduced surgical trauma and short convalescence times. On the other hand, the limited field of view provided by an endoscope impedes orientation inside the body for the surgeon. This thesis addresses the computation of panorama images to support the surgeon during endoscopic examinations of the urinary bladder (cystoscopy) and enhance structured documentation. The proposed solution consists of an image stitching algorithm to create panorama views from endoscopic video streams in real-time by registering and fusing the input images. The panorama algorithm provides a broader field of view during the examination and enables the surgeon to create a map of the bladder for an enhanced documentation of cystoscopic findings.