ProjectRoBildOR

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

Advanced Robotics for Multi-Modal Interventional Imaging (RoBildOR)

Advanced Robotics for Multi-Modal Interventional Imaging (RoBildOR)

In medical collaboration with:
Prof. Dr. Markus Schwaiger, Nuclear Medicine, Klinikum rechts der Isar, TUM, Munich, Germany
Dr. Peter Noël, Radiology, Klinikum rechts der Isar, TUM, Munich, Germany
PD Dr.med. Mark Martignoni, Surgery, Klinikum rechts der Isar, TUM, Munich, Germany

Scientific Director: Nassir Navab

Contact Person(s): Tobias Lasser

In industrial collaboration with:
KUKA Laboratories GmbH, Augsburg, Germany
Siemens AG, Munich, Germany
SurgicEye GmbH, Munich, Germany
ImFusion GmbH, Munich, Germany

Keywords: Registration / Visualization, Reconstruction, Medical Imaging, Molecular Imaging, Ultrasound, Computer-Aided Surgery, IFL

Abstract

This project aims at developing advanced methods for robotic image acquisitions, enabling more flexible, patient- and process-specific functional and anatomical imaging with the operating theater. Using robotic manipulations, co-registered and dynamic imaging can be provided to the surgeon, allowing for optimal implementation of preoperative planning. In particular, this projects is the first one developing concepts for intraoperative SPECT-CT, and introduces intraoperative robotic Ultrasound imaging based on CT trajectory planning, enabling registration with angiographic data. With distinguished partners from Bavarian industry, this project has a fundamental contribution in developing safe, reliable, flexible, and multi-modal imaging technologies for the operating room of the future.

Detailed Project Description

German project title: Hochentwickelte Roboter für multimodale, interventionelle Bildgebung (RoBildOR). German abstract: Der Fokus dieses Projekts liegt in der Entwicklung einer Reihe von fortgeschrittenen, robotergestützten Bildgebungsverfahren, die eine flexible, patienten- und prozess-spezifische funktionale und anatomische Bildgebung im Operationssaal ermöglichen. Die robotergestützten bildgebenden Verfahren stellen dem Operateur koregistrierte, dynamische Bilder des Patienten im Operationssaal zur Verfügung und erlauben ihm so, die präoperative Planung optimal umzusetzen. Diese Daten werden durch dynamische, funktionelle und anatomische Bilder ergänzt. Insbesondere ist dies das erste Projekt, das Konzepte und Modelle für intraoperatives SPECT-CT entwickelt. Darüber hinaus wird eine über CT-Daten gesteuerte intraoperative US-Bildgebung eingeführt und deren Koregistrierung mit Angiographiebildern ermöglicht. Durch dieses Projekt wird die Voraussetzung geschaffen, dass die bayerische und deutsche Industrie potentiell führend in der Entwicklung einer multi-modalen, flexiblen, sicheren und zuverlässigen robotergestützten Bildgebung im Operations- und Interventionsraum der Zukunft ist.

Videos

Publications

2017
R. Kojcev, A. Khakzar, B. Fuerst, O. Zettinig, C. Fakhry, R. DeJong, J. Richmon, R. Taylor, E. Sinibaldi, N. Navab
On the Reproducibility of Expert-Operated and Robotic Ultrasound Acquisitions
International Journal of Computer Assisted Radiology and Surgery / International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Barcelona, June 2017.
O. Zettinig, B. Frisch, S. Virga, M. Esposito, A. Rienmüller, B. Meyer, C. Hennersperger, Y.-M. Ryang , N. Navab
3D Ultrasound Registration-based Visual Servoing for Neurosurgical Navigation
International Journal of Computer Assisted Radiology and Surgery, in press, 2017.
The original publication is available online at link.springer.com
(bib)
2016
C. Hennersperger, B. Fuerst, S. Virga, O. Zettinig, B. Frisch, T. Neff, N. Navab
Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study
IEEE Transactions on Medical Imaging, vol. 36, iss. 2, 2017
The original publication (open access) is available online at ieeexplore.ieee.org
(bib)
J. Gardiazabal, P. Matthies, J. Vogel, B. Frisch, N. Navab, S. I. Ziegler, T. Lasser
Flexible Mini Gamma Camera Reconstructions of Extended Sources using Step and Shoot and List Mode
Medical Physics 43(12):6418-6428, 2016. (bib)
S. Virga, O. Zettinig, M. Esposito, K. Pfister, B. Frisch, T. Neff, N. Navab, C. Hennersperger
Automatic Force-Compliant Robotic Ultrasound Screening of Abdominal Aortic Aneurysms
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, October 2016.
The original publication is available online at ieeexplore.ieee.org
(bib)
R. Kojcev, B. Fuerst, O. Zettinig, J. Fotouhi, S.C. Lee, B. Frisch, R. Taylor, E. Sinibaldi, N. Navab
Dual-Robot Ultrasound-Guided Needle Placement: Closing the Planning-Imaging-Action Loop
International Journal of Computer Assisted Radiology and Surgery / International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Heidelberg, June 2016.
The original publication is available online at link.springer.com
(bib)
O. Zettinig, B. Fuerst, R. Kojcev, M. Esposito, M. Salehi, W. Wein, J. Rackerseder, B. Frisch, N. Navab
Toward Real-time 3D Ultrasound Registration-based Visual Servoing for Interventional Navigation
IEEE International Conference on Robotics and Automation (ICRA), Stockholm, May 2016.
The original publication is available online at ieeexplore.ieee.org
(bib)
2015
O. Zettinig, A. Shah, C. Hennersperger, M. Eiber, C. Kroll, H. Kübler, T. Maurer, F. Milletari, J. Rackerseder, C. Schulte zu Berge, E. Storz, B. Frisch, N. Navab
Multimodal Image-Guided Prostate Fusion Biopsy based on Automatic Deformable Registration
International Journal of Computer Assisted Radiology and Surgery / 6th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Barcelona, June 2015.
The original publication is available online at link.springer.com
(bib)
J. Gardiazabal, J. Vogel, P. Matthies, M. Wieczorek, B. Frisch, N. Navab, S. I. Ziegler, T. Lasser
Fully 3D thyroid imaging with mini gamma cameras
Proceedings of Fully3D, Newport, USA, June 2015 (bib)
T. Lasser, J. Gardiazabal, M. Wieczorek, P. Matthies, J. Vogel, B. Frisch, N. Navab
Towards 3D thyroid imaging using robotic mini gamma cameras
Bildverarbeitung für die Medizin, Lübeck, Germany, March 2015 (bib)
A. Hartl, D. I. Shakir, T. Lasser, S. I. Ziegler, N. Navab
Detection models for freehand SPECT reconstruction
Physics in Medicine and Biology 60(3):1031-1046, 2015 (bib)
2014
A. Okur, C. Hennersperger, J.B. Runyan, J. Gardiazabal, M. Keicher, S. Paepke, T. Wendler, N. Navab
fhSPECT-US Guided Needle Biopsy of Sentinel Lymph Nodes in the Axilla: Is it Feasible?
Medical Image Computing and Computer-Assisted Intervention, MICCAI 2014, Lecture Notes in Computer Science Volume 8673, 2014, pp 577-584 (bib)
J. Gardiazabal, M. Esposito, P. Matthies, A. Okur, J. Vogel, S. Kraft, B. Frisch, T. Lasser, N. Navab
Towards personalized interventional SPECT-CT imaging
Proceedings of the 17th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Boston, USA, September 2014 (bib)
P. Matthies, J. Gardiazabal, A. Okur, J. Vogel, T. Lasser, N. Navab
Mini Gamma Cameras for Intra-operative Nuclear Tomographic Reconstruction
Medical Image Analysis 18(8):1329-1336, 2014 (bib)

Team

Contact Person(s)

Tobias Lasser
PD Tobias Lasser

Working Group

Aslı Okur Kuru
Dipl.-Inf. Univ. Aslı Okur Kuru
Benjamin Frisch
Dr. Benjamin Frisch
Christoph Hennersperger
Dr. Christoph Hennersperger
Marco Esposito
M.Sc. Marco Esposito
Nassir Navab
Prof. Dr. Nassir Navab
Oliver Zettinig
Dr. Oliver Zettinig
Philipp Matthies
Dipl.-Phys. Univ. Philipp Matthies
Tobias Lasser
PD Tobias Lasser

Alumni

Jose Gardiazabal
Dipl.-Ing. Univ. Jose Gardiazabal
Silvan Kraft
Dipl.-Ing. Univ. Silvan Kraft

Location



Technische Universität München
Institut für Informatik / I16
Boltzmannstr. 3
85748 Garching bei München

Tel.: +49 89 289-17058
Fax: +49 89 289-17059
Visit our lab at Garching.



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 Tobias Lasser for available student projects within this research project.

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