ProjectCamC

Chair for Computer Aided Medical Procedures & Augmented Reality
Lehrstuhl für Informatikanwendungen in der Medizin & Augmented Reality

Camera Augmented Mobile C-arm ( CamC )

Camera Augmented Mobile C-arm ( CamC )

In medical collaboration with:
Dr. Sandro-Michael Heining, Klinikum Innenstadt, LMU, Munich, Germany
Dr. Simon Weidert, Klinikum Innenstadt, LMU,Munich, Germany
Prof. Ekkehard Euler, Klinikum Innenstadt, LMU, Munich, Germany
Prof. Wolf Mutschler, Klinikum Innenstadt, LMU, Munich, Germany
Dr. Peter-Helmut Thaller, Klinikum Innenstadt, LMU,Munich, Germany

Scientific Director: Prof. Nassir Navab

Contact Person(s): Prof. Nassir Navab and Ph.D. Pascal Fallavollita

In industrial collaboration with:
Dr. Rainer Graumann, Siemens Medical SP, Erlangen Germany

Keywords: Medical Imaging, Computer-Aided Surgery, Medical Augmented Reality

Abstract

Mobile C-arms are an everyday tool to acquire X-ray images in the operating room during surgery. The Camera Augmented Mobile C-arm (CamC) system augments a regular mobile C-arm by a video camera for X-ray and video image overlay. Thanks to the mirror construction and one time calibration of the device, the acquired X-ray images are co-registered with the video images without any further calibration or registration during the intervention. The CamC system can support a wide range of potential clinical applications, such as needle guidance, interlocking of intramedullary nails, and pedicle screw placement.

Pictures

Figure 1: Mockup of the CamC System.
Figure 2: The attached camera and the double mirror construction.
Figure 3: Extended system setup with two attached cameras.
Figure 4: Visualization shows the overlay of the x-ray onto a foot.

Videos

The interlocking of intramedullary nails is a technically demanding procedure which involves an excessive amount of X-ray acquisitions; one study lists as many as 48 to successfully complete the procedure and fix screws into 5 mm holes in the nail. In this work, a novel low cost radiation-free drilling guide is designed to assist surgeons in completing the distal locking procedure without any X-ray acquisitions. Using an augmented reality fluoroscope that coregisters optical and X-ray images, we exploit solely the optical images to detect the drilling guide in order to estimate the tip position in the real-time in X-ray. To evaluate the accuracy of the tip estimation, we tested over 200 random drill guide poses showing a mean tip-estimation error of 1.72 +/- 0.7 mm which is significantly robust for the interlocking. Also, three expert surgeons participated in a preclinical study on dry bone phantom and successfully completed the distal locking 56 out of 60 trials with no X-ray acquisition for guidance and an average time of 2 minutes. These promising results have shown the robustness and accuracy of our method thereby offering a low cost and efficient solution in decreasing the complexity of interlocking of intramedullary nails procedure.

Standard X-ray images have a narrow field of view and can not visualize the entire long bone on a single image. We propose a novel method to generate panoramic X-ray images by using the Camera Augmented Mobile C-arm. This advanced mobile C-arm system can register the X-ray image with an optical image by construction, which facilitates the generation of panoramic X-ray images based on first stitching the optical images and then embedding the X-ray images.

How was it done?

A prototype for next generation of CAMC user interface - Visual Marker Based Advanced UI. In the prototype, we show that the X-ray transparency can be adjusted by simply moving a finger through a marker-bar

Publications

2013
P. Thaller, B. Diotte, P. Fallavollita, Jian Wang, S. Weidert, E. Euler, W. Mutschler, N. Navab
Video-assisted interlocking of intramedullary nails
Osteosynthese International 2013 (bib)
S. Pati, O. Erat, L. Wang, S. Weidert, E. Euler, N. Navab, P. Fallavollita
Accurate pose estimation using a single marker camera calibration system
SPIE Medical Imaging, Orlando, Florida, USA, February 2013 (bib)
O. Erat, O. Pauly, S. Weidert, P. Thaller, E. Euler, W. Mutschler, N. Navab, P. Fallavollita
How a Surgeon becomes Superman by visualization of intelligently fused multi-modalities
SPIE Medical Imaging, Orlando, Florida, USA, February 2013 (bib)
2012
O. Pauly, A. Katouzian, A. Eslami, P. Fallavollita, N. Navab
Supervised Classification for Customized Intraoperative Augmented Reality Visualization
The 11th IEEE and ACM International Symposium on Mixed and Augmented Reality (ISMAR), Atlanta, USA, Nov. 5 - 8, 2012. (bib)
B. Diotte, P. Fallavollita, L. Wang, S. Weidert, P. Thaller, E. Euler, N. Navab
Radiation-free drill guidance in interlocking of intramedullary nails
Proceedings of the 15th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Nice, France, October 2012 (bib)
X. Chen, L. Wang, P. Fallavollita, N. Navab
Precise X-ray and video overlay for augmented reality fluoroscopy
International Journal of Computer Assisted Radiology and Surgery (IJCARS), 2012 (bib)
S. Weidert, L. Wang, A. von der Heide, N. Navab, E. Euler
Intraoperative augmented-reality-visualisierung: Aktueller stand der entwicklung und erste erfahrungen mit dem camc
Unfallchirurg, 2012 (Accepted for publication) (bib)
X. Chen, L. Wang, P. Fallavollita, N. Navab
Error analysis of the x-ray projection geometry of camera-augmented mobile C-arm
SPIE Medical Imaging, San Diego, California, USA, February 2012 (bib)
L. Wang, P. Fallavollita, R. Zou, X. Chen, S. Weidert, N. Navab
Closed-form inverse kinematics for interventional C-arm X-ray imaging with six degrees of freedom: modeling and application
IEEE Transactions on Medical Imaging (bib)
2011
S. Weidert, L. Wang, P. Thaller, J. Landes, A. Brand, N. Navab, E. Euler
X-ray Stitching for Intra-operative Mechanical Axis Determination of the Lower Extremity
the 11th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, London, UK, June 15-19 2011 (bib)
L. Wang, R. Zou, S. Weidert, J. Landes, E. Euler, D. Burschka, N. Navab
Closed-form inverse kinematics for intra-operative mobile C-arm positioning with six degrees of freedom
SPIE Medical Imaging, Lake Buena Vista (Orlando), Florida, USA, February 2011 (bib)
2010
L. Wang, M. Springer, H. Heibel, N. Navab
Floyd-Warshall All-Pair Shortest Path for Accurate Multi-Marker Calibration
The 9th IEEE and ACM International Symposium on Mixed and Augmented Reality, Seoul, Korea, Oct. 13 - 16, 2010. (bib)
L. Wang, R. Zou, S. Weidert, J. Landes, E. Euler, D. Burschka, N. Navab
Modeling Kinematics of Mobile C-arm and Operating Table as an Integrated Six Degrees of Freedom Imaging System
The 5th International Workshop on Medical Imaging and Augmented Reality, MIAR 2010, Beijing, China, September 19-20, 2010 (bib)
L. Wang, J. Traub, S. Weidert, S.M. Heining, E. Euler, N. Navab
Parallax-Free Intra-Operative X-ray Image Stitching
the MICCAI 2009 special issue of the Journal Medical Image Analysis (bib)
L. Wang, J. Landes, S. Weidert, T. Blum, A. von der Heide, E. Euler, N. Navab
First Animal Cadaver Study for Interlocking of Intramedullary Nails under Camera Augmented Mobile C-arm A Surgical Workflow Based Preclinical Evaluation
the 1st International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Switzerland, June 23 2010. The original publication is available online at www.springerlink.com. (bib)
S. Weidert, L. Wang, J. Landes, A. von der Heide, N. Navab, E. Euler
First Surgical Procedures under Camera-Augmented Mobile C-arm (CamC) guidance
The 3rd Hamlyn Symposium for Medical Robotics ,London, UK, May 25 2010 (bib)
P. Dressel, L. Wang, O. Kutter, J. Traub, S.M. Heining, N. Navab
Intraoperative positioning of mobile C-arms using artificial fluoroscopy
SPIE Medical Imaging, San Diego, California, USA, February 2010 (bib)
2009
L. Wang, J. Traub, S. Weidert, S.M. Heining, E. Euler, N. Navab
Parallax-free Long Bone X-ray Image Stitching
Medical Image Computing and Computer-Assisted Intervention (MICCAI), London, UK, September 20-24 2009 (bib)
N. Navab, S.M. Heining, J. Traub
Camera Augmented Mobile C-arm (CAMC): Calibration, Accuracy Study and Clinical Applications
IEEE Trans. Med. Imag., to appear (bib)
L. Wang, J. Traub, S.M. Heining, S. Benhimane, R. Graumann, E. Euler, N. Navab
Long Bone X-ray Image Stitching using C-arm Motion Estimation
Proceedings of Bildverarbeitung fuer die Medizin (BVM 2009), Heidelberg, Germany, March 22-24 2009 (bib)
L. Wang, S. Weidert, J. Traub, S.M. Heining, C. Riquarts, E. Euler, N. Navab
Camera Augmented Mobile C-arm: Towards Real Patient Study
Proceedings of Bildverarbeitung fuer die Medizin (BVM 2009), Heidelberg, Germany, March 22-24 2009 (bib)
2008
J. Traub, A. Ahmadi, N. Padoy, L. Wang, S.M. Heining, E. Euler, P. Jannin, N. Navab
Workflow Based Assessment of the Camera Augmented Mobile C-arm System
International Workshop on Augmented Reality environments for Medical Imaging and Computer-aided Surgery (AMI-ARCS 2008), New York, NY, USA, September 2008 (bib)
L. Wang, J. Traub, S.M. Heining, S. Benhimane, R. Graumann, E. Euler, N. Navab
Long Bone X-ray Image Stitching Using Camera Augmented Mobile C-arm
Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2008, New York, USA, September 6-10 2008 (bib)
J. Traub, S.M. Heining, E. Euler, N. Navab
Two camera augmented mobile C-arm – System setup and first experiments
Proceedings of The 8th Computer Assisted Orthopaedic Surgery (CAOS 2008), Hong Kong, China, June, 2008 (bib)
2007
J. Traub, H. Heibel, P. Dressel, S.M. Heining, R. Graumann, N. Navab
A Multi-View Opto-Xray Imaging System: Development and First Application in Trauma Surgery
Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. (bib)
N. Navab, J. Traub, T. Sielhorst, M. Feuerstein, C. Bichlmeier
Action- and Workflow-Driven Augmented Reality for Computer-Aided Medical Procedures
IEEE Computer Graphics and Applications, vol. 27, no. 5, pp. 10-14, Sept/Oct, 2007 (bib)
T. Klein, S. Benhimane, J. Traub, S.M. Heining, E. Euler, N. Navab
Interactive Guidance System for C-arm Repositioning without Radiation
Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp. 21-25 (bib)
2006
N. Navab, S. Wiesner, S. Benhimane, E. Euler, S.M. Heining
Visual Servoing for Intraoperative Positioning and Repositioning of Mobile C-arms
Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2006), Copenhagen, Denmark, October 2006 (bib)
S.M. Heining, S. Wiesner, E. Euler, N. Navab
CAMC (camera augmented mobile c-arm) - first clinical application in a cadaver study
Journal of Biomechanics 2006; Vol. 39 Suppl. 1, page 210 (bib)
S.M. Heining, S. Wiesner, E. Euler, N. Navab
Pedicle screw placement under video-augmented fluoroscopic control. First clinical application in a cadaver study
International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 189-190. The original publication is available online at www.springerlink.com (bib)
S.M. Heining, S. Wiesner, E. Euler, W. Mutschler, N. Navab
Locking of intramedullary nails under video-augmented flouroscopic control: first clinical application in a cadaver study
Proceedings of The 6th Computer Assisted Orthopaedic Surgery (CAOS 2006), Montreal, Canada, June, 2006 (bib)
1999
N. Navab, A. Bani-Hashemi, M. Mitschke
Merging visible and invisible: two camera-augmented mobile C-arm (CAMC) applications
Proceedings, 2nd IEEE and ACM International Workshop on Augmented Reality (IWAR'99); Oct. 1999; p. 134-41 (bib)
N. Navab, M. Mitschke, O. Schuetz
Camera augmented Mobile C-arm (CAMC) Application: 3D reconstruction using a low-cost mobile C-arm
Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 1999), Cambridge, England, September 1999 (bib)

Team

Contact Person(s)

Nassir Navab
Prof. Dr. Nassir Navab
Pascal Fallavollita
Dr. Pascal Fallavollita

Working Group

Anna von der Heide
Anna von der Heide
Benoit Diotte
M.Sc. Benoit Diotte
Ekkehard Euler
Prof. Dr. Ekkehard Euler
Pascal Fallavollita
Dr. Pascal Fallavollita
Patrick Wucherer
Dipl.-Inf. Univ. Patrick Wucherer
Philipp Stefan
Philipp Stefan
Simon Weidert
Dr. med. Simon Weidert

Alumni

Hauke Heibel
Dr. Hauke Heibel
Joerg Traub
Dr. Joerg Traub
Lejing Wang
Dr. Lejing Wang
Rui Zou
Rui Zou
Selim Benhimane
Dr. Eng. Selim Benhimane
Stefan Wiesner
Dipl.-Inf. Univ. Stefan Wiesner
Tassilo Klein
Dr. Tassilo Klein
Xin Chen
Dipl.-Inf. Univ. Xin Chen

Location



Ludwig-Maximilians-Universität München
Chirurgische Klinik und Poliklinik - Innenstadt, AG CAS
Nussbaumstr. 20
80336 München

Room: C2.06
Tel.: +49 89 5160-3615
Tel.: +49 89 5160-3635
Fax: +49 89 5160-3630
Visit our lab at Klinikum Innenstadt.



internal project page

Please contact Prof. Nassir Navab and Ph.D. Pascal Fallavollita for available student projects within this research project.

Edit | Attach | Refresh | Diffs | More | Revision r1.30 - 12 Sep 2007 - 14:36 - MartinHorn

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