DaTraub

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

Design of an Intra-Operative Augmented Reality Navigation Tool for Robotically Assisted Minimally Invasive Cardiovascular Surgery

Bearbeiter: Jörg Traub
Aufgabensteller: Prof. Gudrun Klinker Ph.D.
Betreuer: Martin Bauer
Abgabedatum: 15.11.2003

Abstract

Minimally invasive or totally endoscopic cardiac surgery is an operation technique in which physicians operate through small incision points at the cardiac region, in contrast to open chest surgery. A master-slave telemanipulator system, like the da Vinci, allows the insertion of very small instruments and imitates physicians’ hand and finger movements from their remote console. In order to perform a precise operation these incision points and their orientation need to be placed in such a way that there will be no conflicts. Thus, a planning tool in combination with intra-operative navigation support for the port placement is required. The intra-operative navigation is implemented in this work. Current scenarios lack the presentation of preoperative aquired image data, like computed tomography images. Thus, these image data has to be registered in three dimensions with the patient’s thorax. Augmented reality technology enables the projection of the previously planned optimal pose for the port placement on top of the view of the real world. The proposed application will provide physicians with a usefull visualization interface to see inside the patient. A registration procedure is required in order to perfectly align the modalities, both real and virtual, in the spatial domain. Therefore, a point based algorithm, on the basis of fiducials, is used to compute the transformation. Those external markers are placed on the patient’s skin and are visible in the computed tomography scan and in the tracking environment in the operating theater. The developed prototype superimposes the planned port data on top of a video frame of the real world after a perfect spatial registration. Additionally, a tool was implemented that shows the tracked telemanipulator arms during the entire operation in the virtual model of the patient.

Awards

  • On Apr 18, 2005, Jörg Traub gets the "Werner von Siemens Excellence Award" for outstanding diploma thesis. For images follow this link.

ProjectForm
Title: Design of an Intra-Operative Augmented Reality Navigation Tool for Robotically Assisted Minimally Invasive Cardiovascular Surgery
Abstract: Minimally invasive or totally endoscopic cardiac surgery is an operation technique in which physicians operate through small incision points at the cardiac region, in contrast to open chest surgery. A master-slave telemanipulator system, like the da Vinci, allows the insertion of very small instruments and imitates physicians’ hand and finger movements from their remote console. In order to perform a precise operation these incision points and their orientation need to be placed in such a way that there will be no conflicts. Thus, a planning tool in combination with intra-operative navigation support for the port placement is required. The intra-operative navigation is implemented in this work. Current scenarios lack the presentation of preoperative aquired image data, like computed tomography images. Thus, these image data has to be registered in three dimensions with the patient’s thorax. Augmented reality technology enables the projection of the previously planned optimal pose for the port placement on top of the view of the real world. The proposed application will provide physicians with a usefull visualization interface to see inside the patient. A registration procedure is required in order to perfectly align the modalities, both real and virtual, in the spatial domain. Therefore, a point based algorithm, on the basis of fiducials, is used to compute the transformation. Those external markers are placed on the patient’s skin and are visible in the computed tomography scan and in the tracking environment in the operating theater. The developed prototype superimposes the planned port data on top of a video frame of the real world after a perfect spatial registration. Additionally, a tool was implemented that shows the tracked telemanipulator arms during the entire operation in the virtual model of the patient.
Student: Jörg Traub
Director: Gudrun Klinker
Supervisor: Martin Bauer
Type: Diploma Thesis
Status: finished
Start: 2003/04/15
Finish: 2003/11/15


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