Phantoms.

<p>a. Is the box phantom with four lesions drawn on the inside; b. and c. are the balloon phantom with four lesions drawn inside the balloon, coupled to the trocard holder.</p

Registering-accuracy test.

<p>Mean and spread of the Euclidian distance of registered 3D points to the mean 3D point, per lesion.</p

Registering-volume-influence test.

<p>Test to determine the influence of volume differences on the registering accuracy in the balloon phantom. For each measurement set per volume, the Euclidian distance between the registered 3D points and the mean registered 3D point of the 300 cc filled balloon were calculated per lesion.</p

Results overview.

<p>All tests results are shown numerically summarized. The mean and standard deviation of the Euclidean distance to the reference positions are depicted (of every 16 registrations per lesion and per variable). The navigation tests (including the rotational-correction test) do not show a mean distance, but a percentage of the correctly navigated lesions, that were ‘on screen’ after navigation (also of every 16 navigations per lesion and variable).</p

Calibration-requirement test.

<p>Test to assess whether a previously obtained calibration can be loaded into the software, to avoid delay in surgery due to calibration. The accuracy did not decrease after disassembling and reassembling the cystoscopy set and target several times.</p

Endoscopic balloon phantom.

<p>Views through the endoscope before and after registering lesion number 68 and 33. Note that one lesion is mirrored in the air bubble.</p

Schematic bladder navigation system.

<p>The typical position of a patient during cystoscopy or TURBT, with the legs in stirrups. The cystoscope set is connected to the light source, endoscopic camera and a tracking target (conventional, butterfly or foil) The camera sends image data to a computer that converts the analogous imaging data to digital imaging information. This is combined by a computer with positional information of the tracking target, which is read by the stereo-tracking camera. Standard endoscopic images edited with navigational directions are displayed on the monitor.</p