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

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Port Placement in Minimally Invasive Endoscopic Surgery

Port Placement in Minimally Invasive Endoscopic Surgery

In medical collaboration with:
Dr. Thomas Mussack (Klinikum Innenstadt)
Dr. Sandro M. Heining (Klinikum Innenstadt)
Dr. R. Bauernschmitt (Herzzentrum)
Dr. S. Wildhirt (Herzzentrum)

Contact Person(s): Marco Feuerstein

Keywords: Registration / Visualization, Computer-Aided Surgery, Past Projects


Optimal port placement is a delicate issue in minimally invasive endoscopic surgery. A good choice of the instruments' and endoscope's ports can avoid time-consuming consecutive new port placement. We present a novel method to intuitively and precisely plan the port placement. The patient is registered to its pre-operative CT by just moving the endoscope around fiducials, which are attached to the patient's thorax and are visible in its CT. Their 3D positions are automatically reconstructed. Without prior time-consuming segmentation, the pre-operative CT volume is directly rendered with respect to the endoscope or instruments. This enables the simulation of a camera flight through the patient's interior along the instruments' axes to easily validate possible ports.


M. Baumhauer, M. Feuerstein, H.P. Meinzer, J. Rassweiler
Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations
Journal of Endourology, vol. 22, no. 4, pp. 1-16, April 2008 (bib)
M. Feuerstein, T. Mussack, S.M. Heining, N. Navab
Intraoperative Laparoscope Augmentation for Port Placement and Resection Planning in Minimally Invasive Liver Resection
IEEE Trans. Med. Imag., vol. 27, no. 3, pp. 355-369, March 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)
M. Feuerstein
Augmented Reality in Laparoscopic Surgery - New Concepts for Intraoperative Multimodal Imaging
PhD Thesis. The original (high-resolution) publication is available online at (bib)
N. Navab, J. Traub, T. Sielhorst, M. Feuerstein, C. Bichlmeier
Action- and Workflow-Driven Augmented Reality for Computer-Aided Medical Procedures
IEEE Computer Graphics and Applications, vol. 27, no. 5, pp. 10-14, Sept/Oct, 2007 (bib)
R. Bauernschmitt, M. Feuerstein, J. Traub, E.U. Schirmbeck, G. Klinker, R. Lange
Optimal port placement and enhanced guidance in robotically assisted cardiac surgery
Surgical Endoscopy, Volume 21, Number 4, April 2007 (bib)
M. Feuerstein, S.M. Wildhirt, R. Bauernschmitt, N. Navab
Automatic Patient Registration for Port Placement in Minimally Invasive Endoscopic Surgery
Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2005), Palm Springs, USA, October 2005.
The original publication is available online at
M. Feuerstein, N. Navab, E.U. Schirmbeck, S.M. Wildhirt, R. Lange, R. Bauernschmitt
Endocsope Augmentation for Port Placement and Navigation for Rigid Anatomy
4. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2005), Berlin, Germany, September 2005 (bib)
R. Bauernschmitt, M. Feuerstein, E.U. Schirmbeck, J. Traub, G. Klinker, S.M. Wildhirt, R. Lange
Improved Preoperative Planning in Robotic Heart Surgery
IEEE Proceedings of Computers in Cardiology (CinC 2004), pp. 773 - 776, Chicago, USA, September 2004 (bib)
J. Traub, M. Feuerstein, M. Bauer, E.U. Schirmbeck, H. Najafi, R. Bauernschmitt, G. Klinker
Augmented Reality for Port Placement and Navigation in Robotically Assisted Minimally Invasive Cardiovascular Surgery
Proceedings of Computer Assisted Radiology and Surgery (CARS 2004), pp. 735 - 740, Chicago, USA, June 2004 (bib)


Contact Person(s)

Marco Feuerstein
Dr. Marco Feuerstein

Working Group

Nassir Navab
Prof. Dr. Nassir Navab
Sandro Heining
Dr. med. Sandro Heining
Thomas Mussack
Prof. Dr. Thomas Mussack


Eva Braun
Dr. med. Eva Braun
Joerg Traub
Dr. Joerg Traub
Robert Bauernschmitt
Prof. Dr. Robert Bauernschmitt
Stephen Wildhirt
Prof. Dr. Stephen Wildhirt


Ludwig-Maximilians-Universität München
Chirurgische Klinik und Poliklinik - Innenstadt, AG CAS
Nussbaumstr. 20
80336 München

Room: C2.06
Tel.: +49 89 5160-3615
Tel.: +49 89 5160-3635
Fax: +49 89 5160-3630
Visit our lab at Klinikum Innenstadt.

Deutsches Herzzentrum München
Klinik an der Technischen Universität München
Lazarettstr. 62
80636 München

Room: 215
Tel.: +49 89 1812 3710
Visit our lab at Deutsches Herzzentrum Muenchen.

internal project page

Please contact Marco Feuerstein for available student projects within this research project.

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