Navigated Bronchoscopy In medical collaboration with: PD Dr. Hubert Hautmann (Pneumology Department Klinikum rechts der Isar) Contact Person(s): Nassir Navab

Keywords: Registration / Visualization, Computer-Aided Surgery, IFL

Abstract

A common task during broncoscopy procedures is to biopsy peripheral lung tumors. The video bronchoscope is not capable to reach the peripheral lung nodes, but only the biopsy needle. Thus there is no video feedback, but only feedback of the current location of the biopsy tool by fluoroscopy imaging during the intervention. This exposes patient and surgical staff to additional radiation. Another drawback is that tumors can not be visualized on the fluoroscope images and they are only a projection, thus do not report the three dimensional position of the biopsy tool. Electromagnetic tracking is capable of tracking the tip of flexible instrument. A field generator with three orthogonal coils introduces current and thus generates a magnetic field. A sensor composed also of three orthogonal coils is capable to estimate its position and orientation with respect to a coordinate system defined by the field generator. Currently we investigate the combination of all available information for navigation and solutions to represent it in one unified user interface. This includes the measurements of the electromagnetic tracking system, the c-arm, techniques of virtual bronchoscopy, and other data. Furthermore, clinical evaluation is conducted. We define the clinical endpoint and show through studies that the procedure will benefit from the usage of the navigation system.

Publications

2013
	T. Reichl, X. Luo, MI. Menzel, H. Hautmann, K. Mori, N. Navab Hybrid electromagnetic and image-based tracking of endoscopes with guaranteed smooth output International Journal of Computer Assisted Radiology and Surgery. Available online. (bib)
2012
	T. Reichl, I. Gergel, MI. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab New methods for tracking error compensation in transbronchial interventions Proceedings of Computer Assisted Radiology and Surgery (CARS 2012), Pisa, Italy, June 2012 (bib)
	T. Reichl, I. Gergel, MI. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab Motion compensation for bronchoscope navigation using electromagnetic tracking, airway segmentation, and image similarity Proceedings of Bildverarbeitung fuer die Medizin (BVM 2012), Berlin, Germany, March 2012 (bib)
	T. Reichl, I. Gergel, MI. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab Real-time motion compensation for EM bronchoscope tracking with smooth output - ex-vivo validation SPIE Medical Imaging, San Diego, California, USA, February 2012. (bib)
2011
	T. Reichl, X. Luo, MI. Menzel, H. Hautmann, K. Mori, N. Navab Deformable Registration of Bronchoscopic Video Sequences to CT Volumes with Guaranteed Smooth Output Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011), Toronto, Canada, September 2011. (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, K. Mori Robust Bronchoscope Motion Tracking Using Sequential Monte Carlo Methods in Navigated Bronchoscopy: Dynamic Phantom and Patient Validation International Journal of Computer Assisted Radiology and Surgery. (bib)
	K. Mori, T. Kugo, X. Luo, P. Dressel, T. Reichl, M. Feuerstein, N. Navab, T. Kitasaka Endobronchial ultrasound endoscope navigation system based on CT-US calibration Computer Assisted Radiology and Surgery, Berlin, Germany, June 2011 (bib)
	D. Deguchi, M. Feuerstein, T. Kitasaka, Y. Suenaga, I. Ide, H. Murase, K. Imaizumi, Y. Hasegawa, K. Mori Real-time marker-free patient registration for electromagnetic navigated bronchoscopy : a phantom study International Journal of Computer Assisted Radiology and Surgery. The original publication is available online at www.springerlink.com (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, K. Mori On scale invariant features and sequential Monte Carlo sampling for bronchoscope tracking SPIE Medical Imaging, Orlando, Florida, USA, February 2011 (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, K. Mori A novel bronchoscope tracking method for bronchoscopic navigation using a low cost optical mouse sensor SPIE Medical Imaging, Orlando, Florida, USA, February 2011 (bib)
2010
	X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, T. Hirotsugu, K. Mori Development and Comparison of New Hybrid Motion Tracking for Bronchoscopic Navigation Medical Image Analysis. Special issue on Computer Assisted Interventions. Accepted for publication, 17 November 2010. (bib)
	X. Luo, T. Reichl, M. Feuerstein, T. Kitasaka, K. Mori Modified Hybrid Bronchoscope Tracking Based on Sequential Monte Carlo Sampler: Dynamic Phantom Validation Asian Conference on Computer Vision, Queenstown, New Zealand, November 2010 (bib)
	X. Luo, M. Feuerstein, T. Reichl, T. Kitasaka, K. Mori An Application Driven Comparison of Several Feature Extraction Algorithms in Bronchoscope Tracking During Navigated Bronchoscopy 5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
	M. Feuerstein, T. Sugiura, D. Deguchi, T. Reichl, T. Kitasaka, K. Mori Marker-free Registration for Electromagnetic Navigation Bronchoscopy under Respiratory Motion 5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
	P. Dressel, M. Feuerstein, T. Reichl, T. Kitasaka, N. Navab, K. Mori Direct Co-Calibration of Endobronchial Ultrasound and Video 5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
	T. Reichl, O. Kutter, Benedikt Schultis, MI. Menzel, H. Hautmann, N. Navab Video-basiertes Tracking eines Bronchoskops Proceedings of Bildverarbeitung fuer die Medizin (BVM 2010), Aachen, Germany, March 2009 (bib)
	X. Luo, M. Feuerstein, T. Sugiura, T. Kitasaka, K. Mori, K. Imaizumi, Y. Hasegawa Towards hybrid bronchoscope tracking under respiratory motion: evaluation on a dynamic motion phantom SPIE Medical Imaging, San Diego, California, USA, February 2010 (bib)
	T. Sugiura, M. Feuerstein, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori A study on a breathing motion compensation for bronchoscope tracking based on bronchial tree structure information IEICE Medical Imaging, Naha, Japan, January 2010 (bib)
	P. Dressel Calibration of Endobronchial Ultrasound Diploma Thesis. Technische Universität München, January 2010 (bib)
2009
	Benedikt Schultis Video-based Bronchoscope Tracking for Navigated Bronchoscopy Bachelor's Thesis. Technische Universität München, September 2009 (bib)
	D. Deguchi, K. Mori, M. Feuerstein, T. Kitasaka, C. R. Maurer, Jr., Y. Suenaga, H. Takabatake, M. Mori, H. Natori Selective image similarity measure for bronchoscope tracking based on image registration Medical Image Analysis, vol. 13, no. 4, pp. 621-633, August 2009 (bib)
2007
	T. Klein, J. Traub, H. Hautmann, A. Ahmadian, N. Navab Fiducial-Free Registration Procedure for Navigated Bronchoscopy Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007.
	J. Traub, S. Kaur, P. Kneschaurek, N. Navab Evaluation of Electromagnetic Error Correction Methods Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp. 363-367 (bib)
2006
	J. Traub, J. Much, A. Schneider, F. Peltz, H. Hautmann, N. Navab User interface for electromagnetic navigated bronchoscopy 5. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2006), Hannover, Germany, September 2006 (bib)

Team

Contact Person(s)

Prof. Dr. Nassir Navab

Working Group

Dr. med. Hubert Hautmann

Prof. Dr. Nassir Navab

Philipp Dressel

Dr. Tassilo Klein

Alumni

M.Sc. Armin Schneider

Dr. Joerg Traub

Julian Much

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 Nassir Navab for available student projects within this research project.