ProjectNavigatedBronchoscopy

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

Navigated Bronchoscopy

Navigated Bronchoscopy

In medical collaboration with:
PD Dr. Hubert Hautmann (Pneumology Department Klinikum rechts der Isar)

Contact Person(s): Nassir Navab

Keywords: Registration / Visualization, Computer-Aided Surgery, IFL

Abstract

A common task during broncoscopy procedures is to biopsy peripheral lung tumors. The video bronchoscope is not capable to reach the peripheral lung nodes, but only the biopsy needle. Thus there is no video feedback, but only feedback of the current location of the biopsy tool by fluoroscopy imaging during the intervention. This exposes patient and surgical staff to additional radiation. Another drawback is that tumors can not be visualized on the fluoroscope images and they are only a projection, thus do not report the three dimensional position of the biopsy tool. Electromagnetic tracking is capable of tracking the tip of flexible instrument. A field generator with three orthogonal coils introduces current and thus generates a magnetic field. A sensor composed also of three orthogonal coils is capable to estimate its position and orientation with respect to a coordinate system defined by the field generator. Currently we investigate the combination of all available information for navigation and solutions to represent it in one unified user interface. This includes the measurements of the electromagnetic tracking system, the c-arm, techniques of virtual bronchoscopy, and other data. Furthermore, clinical evaluation is conducted. We define the clinical endpoint and show through studies that the procedure will benefit from the usage of the navigation system.

Publications

2013
T. Reichl, X. Luo, MI. Menzel, H. Hautmann, K. Mori, N. Navab
Hybrid electromagnetic and image-based tracking of endoscopes with guaranteed smooth output
International Journal of Computer Assisted Radiology and Surgery. Available online. (bib)
2012
T. Reichl, I. Gergel, MI. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab
New methods for tracking error compensation in transbronchial interventions
Proceedings of Computer Assisted Radiology and Surgery (CARS 2012), Pisa, Italy, June 2012 (bib)
T. Reichl, I. Gergel, MI. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab
Motion compensation for bronchoscope navigation using electromagnetic tracking, airway segmentation, and image similarity
Proceedings of Bildverarbeitung fuer die Medizin (BVM 2012), Berlin, Germany, March 2012 (bib)
T. Reichl, I. Gergel, MI. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab
Real-time motion compensation for EM bronchoscope tracking with smooth output - ex-vivo validation
SPIE Medical Imaging, San Diego, California, USA, February 2012. (bib)
2011
T. Reichl, X. Luo, MI. Menzel, H. Hautmann, K. Mori, N. Navab
Deformable Registration of Bronchoscopic Video Sequences to CT Volumes with Guaranteed Smooth Output
Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011), Toronto, Canada, September 2011. (bib)
X. Luo, M. Feuerstein, T. Kitasaka, K. Mori
Robust Bronchoscope Motion Tracking Using Sequential Monte Carlo Methods in Navigated Bronchoscopy: Dynamic Phantom and Patient Validation
International Journal of Computer Assisted Radiology and Surgery. (bib)
K. Mori, T. Kugo, X. Luo, P. Dressel, T. Reichl, M. Feuerstein, N. Navab, T. Kitasaka
Endobronchial ultrasound endoscope navigation system based on CT-US calibration
Computer Assisted Radiology and Surgery, Berlin, Germany, June 2011 (bib)
D. Deguchi, M. Feuerstein, T. Kitasaka, Y. Suenaga, I. Ide, H. Murase, K. Imaizumi, Y. Hasegawa, K. Mori
Real-time marker-free patient registration for electromagnetic navigated bronchoscopy : a phantom study
International Journal of Computer Assisted Radiology and Surgery.
The original publication is available online at www.springerlink.com
(bib)
X. Luo, M. Feuerstein, T. Kitasaka, K. Mori
On scale invariant features and sequential Monte Carlo sampling for bronchoscope tracking
SPIE Medical Imaging, Orlando, Florida, USA, February 2011 (bib)
X. Luo, M. Feuerstein, T. Kitasaka, K. Mori
A novel bronchoscope tracking method for bronchoscopic navigation using a low cost optical mouse sensor
SPIE Medical Imaging, Orlando, Florida, USA, February 2011 (bib)
2010
X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, T. Hirotsugu, K. Mori
Development and Comparison of New Hybrid Motion Tracking for Bronchoscopic Navigation
Medical Image Analysis. Special issue on Computer Assisted Interventions. Accepted for publication, 17 November 2010. (bib)
X. Luo, T. Reichl, M. Feuerstein, T. Kitasaka, K. Mori
Modified Hybrid Bronchoscope Tracking Based on Sequential Monte Carlo Sampler: Dynamic Phantom Validation
Asian Conference on Computer Vision, Queenstown, New Zealand, November 2010 (bib)
X. Luo, M. Feuerstein, T. Reichl, T. Kitasaka, K. Mori
An Application Driven Comparison of Several Feature Extraction Algorithms in Bronchoscope Tracking During Navigated Bronchoscopy
5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
M. Feuerstein, T. Sugiura, D. Deguchi, T. Reichl, T. Kitasaka, K. Mori
Marker-free Registration for Electromagnetic Navigation Bronchoscopy under Respiratory Motion
5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
P. Dressel, M. Feuerstein, T. Reichl, T. Kitasaka, N. Navab, K. Mori
Direct Co-Calibration of Endobronchial Ultrasound and Video
5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
T. Reichl, O. Kutter, Benedikt Schultis, MI. Menzel, H. Hautmann, N. Navab
Video-basiertes Tracking eines Bronchoskops
Proceedings of Bildverarbeitung fuer die Medizin (BVM 2010), Aachen, Germany, March 2009 (bib)
X. Luo, M. Feuerstein, T. Sugiura, T. Kitasaka, K. Mori, K. Imaizumi, Y. Hasegawa
Towards hybrid bronchoscope tracking under respiratory motion: evaluation on a dynamic motion phantom
SPIE Medical Imaging, San Diego, California, USA, February 2010 (bib)
T. Sugiura, M. Feuerstein, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori
A study on a breathing motion compensation for bronchoscope tracking based on bronchial tree structure information
IEICE Medical Imaging, Naha, Japan, January 2010 (bib)
P. Dressel
Calibration of Endobronchial Ultrasound
Diploma Thesis. Technische Universität München, January 2010 (bib)
2009
Benedikt Schultis
Video-based Bronchoscope Tracking for Navigated Bronchoscopy
Bachelor's Thesis. Technische Universität München, September 2009 (bib)
D. Deguchi, K. Mori, M. Feuerstein, T. Kitasaka, C. R. Maurer, Jr., Y. Suenaga, H. Takabatake, M. Mori, H. Natori
Selective image similarity measure for bronchoscope tracking based on image registration
Medical Image Analysis, vol. 13, no. 4, pp. 621-633, August 2009 (bib)
2007
T. Klein, J. Traub, H. Hautmann, A. Ahmadian, N. Navab
Fiducial-Free Registration Procedure for Navigated Bronchoscopy
Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007.
J. Traub, S. Kaur, P. Kneschaurek, N. Navab
Evaluation of Electromagnetic Error Correction Methods
Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp. 363-367 (bib)
2006
J. Traub, J. Much, A. Schneider, F. Peltz, H. Hautmann, N. Navab
User interface for electromagnetic navigated bronchoscopy
5. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2006), Hannover, Germany, September 2006 (bib)

Team

Contact Person(s)

Nassir Navab
Prof. Dr. Nassir Navab

Working Group

Hubert Hautmann
Dr. med. Hubert Hautmann
Nassir Navab
Prof. Dr. Nassir Navab
Philipp Dressel
Philipp Dressel
Tassilo Klein
Dr. Tassilo Klein

Alumni

Armin Schneider
M.Sc. Armin Schneider
Joerg Traub
Dr. Joerg Traub
Julian Much
Julian Much
Tobias Reichl
Dr. Tobias Reichl

Location



Klinikum rechts der Isar
der Technischen Universitüt München
Ismaninger Str. 22
81675 München

IFL Lab - Room: 01.3a-c
Tel.: +49 89 4140-6457
Fax: +49 89 4140-6458
Visit our lab at Klinikum rechts der Isar.



internal project page

Please contact Nassir Navab for available student projects within this research project.

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