Magneto-Optic Tracking of a Flexible Laparoscopic Ultrasound Transducer In medical collaboration with: Dr. Hubertus Feußner (Klinikum rechts der Isar) Contact Person(s): Marco Feuerstein

Keywords: Computer-Aided Surgery, Medical Augmented Reality

Abstract

In abdominal surgery, a laparoscopic ultrasound transducer is commonly used to detect lesions such as metastases. The determination and visualization of position and orientation of its flexible tip in relation to the patient or other surgical instruments can be of much help to (novice) surgeons utilizing the transducer intraoperatively. This difficult subject has recently been paid attention to by the scientific community. Electromagnetic tracking systems can be applied to track the flexible tip. However, the magnetic field can be distorted by ferromagnetic material.

We present a new method based on optical tracking of the laparoscope and magneto-optic tracking of the transducer, which is able to automatically detect and correct field distortions. This is used for a smooth augmentation of the B-scan images of the transducer directly on the camera images in real time.

Pictures

Figure 1: Hybrid magneto-optic tracking setup

Figure 2: Evaluation setup

Publications

2013
	T. Reichl, J. Gardiazabal, N. Navab Electromagnetic servoing - a new tracking paradigm IEEE Transactions on Medical Imaging, vol. 32, no. 8, pp. 1526-1535, April 2013. Available online. (bib)
	T. Reichl Advanced Hybrid Tracking and Navigation for Computer-Assisted Interventions Dissertation. Official publication available at mediatum.ub.tum.de. (bib)
2009
	M. Feuerstein, T. Reichl, J. Vogel, J. Traub, N. Navab Magneto-Optical Tracking of Flexible Laparoscopic Ultrasound: Model-Based Online Detection and Correction of Magnetic Tracking Errors IEEE Trans. Med. Imag., vol. 28, no. 6, pp. 951-967, June 2009 (bib)
2008
	M. Feuerstein, T. Reichl, J. Vogel, J. Traub, N. Navab New Approaches to Online Estimation of Electromagnetic Tracking Errors for Laparoscopic Ultrasonography Computer Aided Surgery, vol. 13, no. 5, pp. 311-323, September 2008 (bib)
	M. Feuerstein Augmented Reality in Laparoscopic Surgery - New Concepts and Methods for Intraoperative Multimodal Imaging and Hybrid Tracking in Computer Aided Surgery Book, ISBN 978-3-8364-7783-3, Vdm Verlag Dr. Müller. (bib)
2007
	M. Feuerstein, T. Reichl, J. Vogel, A. Schneider, H. Feußner, N. Navab Magneto-optic Tracking of a Flexible Laparoscopic Ultrasound Transducer for Laparoscope Augmentation Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. The original publication is available online at www.springerlink.com (bib)
	M. Feuerstein Augmented Reality in Laparoscopic Surgery - New Concepts for Intraoperative Multimodal Imaging PhD Thesis. The original (high-resolution) publication is available online at mediatum.ub.tum.de (bib)
	T. Reichl Online Error Correction for the Tracking of Laparoscopic Ultrasound Diploma Thesis. Technische Universität München, July 2007 (bib)

Team

Contact Person(s)

Dr. Marco Feuerstein

Working Group

M.Sc. Armin Schneider

Prof. Dr. Hubertus Feussner

Dipl.-Inf. Univ. Jakob Vogel

Dr. Joerg Traub

Prof. Dr. Nassir Navab

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 Marco Feuerstein for available student projects within this research project.