biostudies-literatureVagdargi PNINDS NIH HHS669-682https://www.ebi.ac.uk/biostudies/studies/S-EPMC12680102biostudies-literatureUnknown5(3)Neuroendoscopic approach to deep-brain targets imparts deformation of the ventricles and adjacent parenchyma, limiting the accuracy of conventional neuronavigation. We report a method for 3D endoscopic reconstruction and registration via simultaneous localization and mapping (SLAM) for real-time guidance with or without robotic assistance. The aim is to permit augmented video overlay of structures registered from preoperative or intraoperative 3D images within and beyond the endoscopic field of view for more accurate targeting in the presence of deep-brain deformation. Phantom studies were performed to evaluate geometric accuracy and uncertainty in distinct scenarios of limited data (feature sparsity and scene occlusion), demonstrating performance over a broad range of challenges to endoscIEEE transactions on medical robotics and bionicsReal-Time 3-D Video Reconstruction for Guidance of Transventricular Neurosurgery.PMC12680102U01 NS107133Han RWu PLee JSisniega AAnderson WSUneri AHelm PJones CKVagdargi PHager GDZhang XLuciano MSiewerdsen JHfalseReal-Time 3-D Video Reconstruction for Guidance of Transventricular Neurosurgery.Neuroendoscopic approach to deep-brain targets imparts deformation of the ventricles and adjacent parenchyma, limiting the accuracy of conventional neuronavigation. We report a method for 3D endoscopic reconstruction and registration via simultaneous localization and mapping (SLAM) for real-time guidance with or without robotic assistance. The aim is to permit augmented video overlay of structures registered from preoperative or intraoperative 3D images within and beyond the endoscopic field of view for more accurate targeting in the presence of deep-brain deformation. Phantom studies were performed to evaluate geometric accuracy and uncertainty in distinct scenarios of limited data (feature sparsity and scene occlusion), demonstrating performance over a broad range of challenges to endosc2023-01-01T00:00:00Z2023 Aug2026-06-11T03:13:21.6Z2026-06-11T03:08:20.182ZS-EPMC126801024135612310.1109/tmrb.2023.3292450