Inside-Out Tracking Scientific Director: Nassir Navab, Benjamin Frisch Contact Person(s): Benjamin Frisch In industrial collaboration with: FRAMOS GmbH

Keywords: Medical Imaging, Computer Vision, Ubiquitous Tracking, IFL

Abstract

Current tracking solutions routinely used in a clinical, potentially surgically sterile, environment are limited to mechanical, electromagnetic or classic optical tracking. Main limitations of these technologies are respectively the size of the arm, the influence of ferromagnetic parts on the magnetic field and the line of sight between the cameras and tracking targets. These drawbacks limit the use of tracking in a clinical environment. The aim of this project is the development of so-called inside-out tracking, where one or more small cameras are fixed on clinical tools or robotic arms to provide tracking, both relative to other tools and static targets.
These developments are funded from the 1st of January 2016 to 31st of December 2017 by the ZIM project Inside-Out Tracking for Medical Applications (IOTMA).

Pictures

Figure 1: A stereoscopic tracking system mounted on a robotic arm for inside-out tracking of surgical tools.

Publications

2016
	B. Busam, M. Esposito, B. Frisch, N. Navab Quaternionic Upsampling: Hyperspherical Techniques for 6 D-o-F Pose Tracking International Conference on 3DVision (3DV), Stanford University, California, USA, October 2016 (bib)
	M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, N. Navab, B. Frisch Multimodal US-Gamma Imaging using Collaborative Robotics for Cancer Staging Biopsies International Journal of Computer Assisted Radiology and Surgery (bib)
2015
	B. Busam, M. Esposito, S. Che'Rose, N. Navab, B. Frisch A Stereo Vision Approach for Cooperative Robotic Movement Therapy International Conference on Computer Vision Workshop (ICCVW), Santiago, Chile, December 2015 [oral]. (bib)
	M. Esposito, B. Busam, C. Hennersperger, J. Rackerseder, A. Lu, N. Navab, B. Frisch Cooperative Robotic Gamma Imaging: Enhancing US-guided Needle Biopsy Proceedings of the 18th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Munich, Germany, October 2015 [oral]. (bib)

Team

Contact Person(s)

Dr. Benjamin Frisch

Working Group

M.Sc. Benjamin Busam

Dr. Benjamin Frisch

Dr. Christoph Hennersperger

M.Sc. Marco Esposito

M.Sc. Salvatore Virga

Alumni

Dipl.-Phys. Univ. Philipp Matthies

Dr. Vasileios Belagiannis

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 Benjamin Frisch for available student projects within this research project.