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

Hauptseminar/Master Seminar:
Image-based tool tracking for computer aided biopsy procedures

Prof. Nassir Navab, Dr. Christoph Hennersperger, Rüdiger Göbl, Julia Rackerseder

Type: Master Seminar Module IN2107
SWS: 2
ECTS: 4 Credits
Course Language: English


In traditional surgery, the outcome of the procedure depends entirely on the skills of the physicians and nurses. Today, interventional imaging and new solutions support the physicians during the intervention, with the main goal of improving patient safety. We need to overcome many challenges, including spatial constraints in the OR as well as the desire for minimally invasive procedures. With respect to the diagnosis in various medical disciplines (e.g. neurosurgery, breast care, general oncology, etc.), a biopsy is the main source of information for the appropriate treatment strategy.

Most of today's biopsy procedures are still performed without additional guidance and support by imaging, causing unnecessary complications and partially low success rates. Interventional and general imaging could potentially provide support during biopsy in interventional settings, and researchers have focused on this area over the last years.

This seminar course focuses on current research topics in the field of images-based tracking for biopsy applications, covering a variety of interventional settings and applications.

The seminar will cover:

  • Interventional imaging (mainly ultrasound, but also MRI, CT)
  • Image-based tracking methods (e.g. needle tracking)
  • Applications to different medical areas (e.g. Neurosurgery, breast tumor care)
  • Etc.


  • [01.06.2016] Initial seminar information page created.
  • [28.09.2016] The date of the introductory meeting changed: it is now Tuesday, 25th of October at 13:00, instead of 27th as initially announced.
  • [21.10.2016] The dates of the presentations are fixed.
  • [15.12.2016] The presentation time-slots have been assigned.


  • TUM students: Register in the matching system for the course registration between 01.07.2016 and 06.07.2016 (link). Keep in mind that your chances to be assigned to the course increase if you give it a higher rank in your choices.
  • Exchange students without TUMonline account: Please send a nice mail to Christoph Hennersperger to indicate that you want to participate, including your name, your birthday, program of study and Matrikelnummer (if you already have one). We will then enroll you in the course, given you match the requirements (Master's student).
  • Maximum number of participants: 12


In this Master Seminar (formerly Hauptseminar), each student is asked to select one paper from a list. In order to successfully complete the seminar, participants have to fulfill these requirements - all three will influence the final grade:

  • Presentation: The selected paper is presented to the other participants (15 minutes presentation, 10 minutes questions). Use the CAMP templates for PowerPoint  camp-tum-jhu-slides.potx, or Latex:  CAMP-latex-template.zip.
  • Written Report: A document of maximum 8 pages (i.e. a PDF with 8 pages) is written and submitted one week after the presentation, 23:59. Please download and use the  CAMP Seminar Latex template. Alternatively, you can also use the LNCS Latex template llncs2e.zip directly from the Springer website.
  • Attendance: Participants have to participate actively in all seminar sessions.

Each presentation is followed by a discussion and everyone is encouraged to actively participate. The report must include all references used and must be written completely in your own words. Copy and paste will not be tolerated. Both report and presentation have to be done in English.


The seminar consists of a preliminary meeting, an introductory meeting and seminar sessions. Each of the sessions will consist of several student presentations. All seminar participants are expected to be present at every session and to actively participate in the discussion.

Date Time Room Topic By Material
30.06.2016 14:00-14:30 03.13.010 Preliminary Meeting Tutors  
25.10.2016 13:00-14:00 03.13.010 Introductory Meeting Tutors Papers
27.10.2016 12:00 (AM) email Paper selection: e-Mail to Rüdiger Göbl Students  
from 27th of October   Tutor offices You may contact your tutor and arrange an appointment to discuss outline of your presentation and ask targeted questions    
15.12.2016 13:00-17:00 03.13.010 Presentation Training Tutors  
10.01.2017 10:00-12:00 00.12.019 Paper Presentations I Students  
11.01.2017 14:00-16:00 01.11.018 Paper Presentations II Students  
18.01.2017 23:59 email Written reports due: e-Mail to Rüdiger Göbl Students  

Paper Presentations

Presentation duration: 15 minutes presentation, 10 minutes questions

First Name Name Date Time
Maximilian Geißler 10.01.2017 10:00
Sebastian Requena Witzig 10.01.2017 10:30
Ramona Schneider 10.01.2017 11:00
Philipp Jutzi 10.01.2017 11:30
Irving Cabrera 11.01.2017 14:00
Alexander Binsmaier 11.01.2017 14:30
Benito Diaz Nava 11.01.2017 15:00

Paper Assignments

First Name Name Paper Assigned Tutor
Maximilian Geißler [5] Rüdiger Göbl
Sebastian Requena Witzig [2] Rüdiger Göbl
Ramona Schneider [13] Julia Rackerseder
Philipp Jutzi [10] Julia Rackerseder
Irving Cabrera [11] Dr. Christoph Hennersperger
Alexander Binsmaier [4] Dr. Christoph Hennersperger
Benito Diaz Nava [1] Rüdiger Göbl

List of Papers

[1] N. Shahriari, R. J. Roesthuis, N. J. Van De Berg, J. J. Van Den Dobbelsteen, and S. Misra, “Steering an actuated-tip needle in biological tissue: Fusing FBG-sensor data and ultrasound images,” in Proceedings - IEEE International Conference on Robotics and Automation, 2016, vol. 2016–June, pp. 4443–4449.

[2] M. Mura, S. Parrini, G. Ciuti, V. Ferrari, C. Freschi, M. Ferrari, P. Dario, and A. Menciassi, “A computer-assisted robotic platform for vascular procedures exploiting 3D US-based tracking,” Comput. Assist. Surg., vol. 21, no. 1, pp. 63–79, 2016.

[3] A. Pourtaherian, S. Zinger, P. H. N. de With, H. H. M. Korsten, and N. Mihajlovic, “Benchmarking of state-of-the-art needle detection algorithms in 3D ultrasound data volumes,” Prog. Biomed. Opt. Imaging - Proc. SPIE, vol. 9415, p. 94152B, 2015.

[4] P. Chatelain, A. Krupa, and M. Marchal, “Real-time needle detection and tracking using a visually servoed 3D ultrasound probe,” Proc. - IEEE Int. Conf. Robot. Autom., pp. 1679–1681, 2013.

[5] H. R. S. Neshat and R. V. Patel, “Real-time parametric curved needle segmentation in 3D ultrasound images,” Proc. 2nd Bienn. IEEE/RAS-EMBS Int. Conf. Biomed. Robot. Biomechatronics, BioRob? 2008, pp. 670–675, 2008.

[6] S. Cheung and R. Rohling, “Enhancement of needle visibility in ultrasound-guided percutaneous procedures,” Ultrasound Med. Biol., vol. 30, no. 5, pp. 617–624, 2004.

[7] N. I. Sainani, R. S. Arellano, P. B. Shyn, D. A. Gervais, P. R. Mueller, and S. G. Silverman, “The challenging image-guided abdominal mass biopsy: Established and emerging techniques ‘if you can see it, you can biopsy it,’” Abdom. Imaging, vol. 38, no. 4, pp. 672–696, 2013.

[8] O. Zettinig, A. Shah, C. Hennersperger, M. Eiber, C. Kroll, H. K??bler, T. Maurer, F. Milletari, J. Rackerseder, C. Schulte zu Berge, E. Storz, B. Frisch, and N. Navab, “Multimodal image-guided prostate fusion biopsy based on automatic deformable registration,” Int. J. Comput. Assist. Radiol. Surg., vol. 10, no. 12, pp. 1997–2007, 2015.

[9] A. M. Franz, T. Haidegger, W. Birkfellner, K. Cleary, T. M. Peters, and L. Maier-Hein, “Electromagnetic tracking in medicine -A review of technology, validation, and applications,” IEEE Trans. Med. Imaging, vol. 33, no. 8, pp. 1702–1725, 2014.

[10] C. R. Weiss, S. G. Nour, and J. S. Lewin, “MR-guided biopsy: A review of current techniques and applications,” J. Magn. Reson. Imaging, vol. 27, no. 2, pp. 311–325, Feb. 2008.

[11] D. R. Elgort, E. Y. Wong, C. M. Hillenbrand, F. K. Wacker, J. S. Lewin, and J. L. Duerk, “Real-time catheter tracking and adaptive imaging,” J. Magn. Reson. Imaging, vol. 18, no. 5, pp. 621–626, Nov. 2003.

[12] C. Baur, S. Albarqouni, S. Demirci, N. Navab, and P. Fallavollita, “CathNets: Detection and Single-View Depth Prediction of Catheter Electrodes,” in Medical Imaging and Augmented Reality: 7th International Conference, MIAR 2016, Bern, Switzerland, August 24-26, 2016, Proceedings, G. Zheng, H. Liao, P. Jannin, P. Cattin, and S.-L. Lee, Eds. Cham: Springer International Publishing, 2016, pp. 38–49.

[13] L. C. Garcia-Peraza-Herrera, W. Li, C. Gruijthuijsen, A. Devreker, G. Attilakos, J. Deprest, E. Vander Poorten, D. Stoyanov, T. Vercauteren, and S. Ourselin, “Real-Time Segmentation of Non-Rigid Surgical Tools based on Deep Learning and Tracking,” pp. 1–12, 2016.

Literature and Helpful Links

A lot of scientific publications can be found online.

The following list may help you to find some further information on your particular topic:

Some publishers:

Libraries (online and offline):

Some further hints for working with references:

  • JabRef is a Java program for comfortable working with Bibtex literature databases. Handy feature: if you know the PubMed ID for an article, JabRef can import data from there (via "Web Search/Medline").
  • Mendeley is a cross-platform program for organising your references.

If you find useful resources that are not already listed here, please tell us, so we can add them for others. Thanks.

Title: Image-based tool tracking for computer aided biopsy procedures
Professor: Prof. Dr. Nassir Navab and Dr. Christoph Hennersperger
Tutors: Rüdiger Göbl, Julia Rackerseder
Type: Hauptseminar
Information: Hauptseminar, SWS: 2, ECTS: 4
Term: 2016WiSe

Edit | Attach | Refresh | Diffs | More | Revision r1.23 - 12 Jan 2017 - 10:40 - RuedigerGoebl

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