| SFB 603, B6: Computer aided endoscopy of the abdomen In the project B6 algorithms for a MUSTOF
(Multisensor-Time-of-Flight) endoscope were developed and
the manufacturing of a first prototype was enforced. While
the construction of the prototype is underway at Richard
Wolf GmbH, basic algorithms for the use of the endoscope in
medical applications were developed: this were algorithms
for the calibration, registration of image sensors utilized
in the MUSTOF endoscope and reconstruction of static
scenes.
These algorithms constitute a proof of concept for the
handling of data acquired from a TOF camera: the
calibration improves the reconstruction accuracy, the
registration of the image sensors enables photorealistic
reconstruction and the on-the-fly registration of
consecutively acquired frames allows the reconstruction of
complex static scenes.
These results are a valuable foundation for the development
of a MUSTOF endoscope as they ensure, that if the data
provided by the endoscope is suitable, valuable information
can be provided in medical applications: the registration
of the surface reconstruction with data from other pre- or
intraoperative modalities like CT or MR enables
intraoperative Augmented Reality. Furthermore, the
operation area can be explored, navigated and measured in
3-D without the need to actually move the endoscope.
Several other features have been suggested by clinical
partners: collision detection and positioning of
the endoscope at a certain relative position to anatomical
structures may provide benefits for the patient (reduced
risk of injury) and for the surgeon (better perception of
the anatomy of the operation area). | Project manager:
Prof. Dr. med. Dr. h.c. Werner Hohenberger, a.D., Prof. Dr.-Ing. Joachim Hornegger, Prof. Dr. Günther Greiner, Prof. Dr. med. Thomas Horbach, Dr. med. Sophie Krüger
Project participants:
Dipl. Med.-Inf. Jochen Penne, Dr.-Ing. Marco Winter, Dr.-Ing. Kurt Höller, MBA
Keywords:
Endoscopic Surgery; Minimally invasive surgery; 3-D-Visualization; Light field; Registration; Image Enhancement; MUSTOF endoscope
Duration: 1.1.2000 - 31.12.2007
Sponsored by:
Deutsche Forschungsgemeinschaft
Mitwirkende Institutionen:
Chirurgische Universitätsklinik Erlangen
Lehrstuhl für Graphische Datenverarbeitung Erlangen
Contact:
Penne, Jochen
E-Mail: penne@cs.fau.de
| | Publications |
|---|
| Vogt, Florian ; Krüger, Sophie ; Winter, Marco ; Niemann, Heinrich ; Hohenberger, Werner ; Greiner, Günther ; Schick, Christoph: Erweiterte Realität und 3-D Visualisierung für minimal-invasive Operationen durch Einsatz eines optischen Trackingsystems. In: Meinzer, H.-P. ; Handels, H. ; Horsch, A. ; Tolxdorff, T. (Ed.) : Proceedings Bildverarbeitung für die Medizin (Bildverarbeitung für die Medizin Heidelberg 13.-15.3.2005). Berlin : Springer, 2005, pp 217-221. - ISBN 3-540-25052-2 | | Winter, Marco ; Greiner, Günther ; Vogt, Florian ; Niemann, Heinrich ; Krüger, Sophie: Visualizing distances between light field and geometry using projective texture mapping. In: Greiner, Günther ; Hornegger, Joachim ; Niemann, Heinrich ; Stamminger, Marc (Ed.) : Proceedings of the Workshop Vision, Modeling, and Visualization (Workshop Vision, Modeling, and Visualization Erlangen 16.-18.11.2005). St. Augustin : Infix, 2005, pp 257-264. - ISBN 3-540-25052-2 | | Wilhelm, D. ; Penne, Jochen ; Meining, Alexander ; Hornegger, Joachim ; Feußner, Hubertus: An Innovative, Safe and Sterile Sigmoid Access for NOTES (ISSA). In: Hornegger, Joachim ; Mayr, Ernst W. ; Schookin, Sergey ; Feußner, Hubertus ; Navab, Nassir ; Gulyaev, Yuri V. ; Höller, Kurt ; Ganzha, Victor (Ed.) : 3rd Russian-Bavarian Conference on Biomedical Engineering (3rd Russian-Bavarian Conference on Biomedical Engineering Erlangen 2.-3.07.2007). Vol. 1. Erlangen : Union aktuell, 2007, pp 223-226. - ISBN 3-921713-33-X | | Ritt, P. ; Höller, Kurt ; Penne, Jochen ; Schneider, Adam ; Hornegger, Joachim ; Feußner, H.: Auto-Gain Approach for Use with Time-of-Flight Examination in Minimally Invasive Surgery. In: Hornegger, Joachim ; Mayr, Ernst W. ; Schookin, Sergey ; Feußner, Hubertus ; Navab, Nassir ; Gulyaev, Yuri V. ; Höller, Kurt ; Ganzha, Victor (Ed.) : 3rd Russian-Bavarian Conference on Biomedical Engineering (3rd Russian-Bavarian Conference on Biomedical Engineering Erlangen 2.-3.07.2007). Vol. 1. Erlangen : Union aktuell, 2007, pp 227-232. | | Härtl, F. ; Höller, Kurt ; Beller, S. ; Feußner, Hubertus: Current status of the use of medical robots in Germany, Austria and Switzerland. In: Hornegger, Joachim ; Mayr, Ernst W. ; Schookin, Sergey ; Feußner, Hubertus ; Navab, Nassir ; Gulyaev, Yuri V. ; Höller, Kurt ; Ganzha, Victor (Ed.) : 3rd Russian-Bavarian Conference on Biomedical Engineering (3rd Russian-Bavarian Conference on Biomedical Engineering Erlangen 2.-3.07.2007). Vol. 1. Erlangen : Union aktuell, 2007, pp 2-4. | | Penne, Jochen ; Höller, Kurt ; Krüger, Sophie ; Feußner, Hubertus: NOTES 3D: Endoscopes learn to see 3-D; Basic Algorithms for a Novel Endoscope. In: Ranchordas, Alpesh Kumar ; Araújo, Helder ; Vitriá, Jordi (Ed.) : VISAPP 2007, Second international Conference on Computer Vision Theory and Applications (VISAPP 2007 Barcelona 8.-11.3.2007). Barcelona : Insticc Press, 2007, pp 134-139. - ISBN 978-972-8865-75-7 |
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