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Advanced Robotics for Multi-Modal Interventional Imaging (RoBildOR)In medical collaboration with:Prof. Dr. Markus Schwaiger, Nuclear Medicine, Klinikum rechts der Isar, TUM, Munich, Germany Dr. Peter Noël, Radiology, Klinikum rechts der Isar, TUM, Munich, Germany PD Dr.med. Mark Martignoni, Surgery, Klinikum rechts der Isar, TUM, Munich, Germany Scientific Director: Nassir Navab Contact Person(s): Tobias Lasser In industrial collaboration with: KUKA Laboratories GmbH, Augsburg, Germany Siemens AG, Munich, Germany SurgicEye GmbH, Munich, Germany ImFusion GmbH, Munich, Germany |
Abstract
This project aims at developing advanced methods for robotic image acquisitions, enabling more flexible, patient- and process-specific functional and anatomical imaging with the operating theater. Using robotic manipulations, co-registered and dynamic imaging can be provided to the surgeon, allowing for optimal implementation of preoperative planning. In particular, this projects is the first one developing concepts for intraoperative SPECT-CT, and introduces intraoperative robotic Ultrasound imaging based on CT trajectory planning, enabling registration with angiographic data. With distinguished partners from Bavarian industry, this project has a fundamental contribution in developing safe, reliable, flexible, and multi-modal imaging technologies for the operating room of the future.Detailed Project Description
German project title: Hochentwickelte Roboter für multimodale, interventionelle Bildgebung (RoBildOR). German abstract: Der Fokus dieses Projekts liegt in der Entwicklung einer Reihe von fortgeschrittenen, robotergestützten Bildgebungsverfahren, die eine flexible, patienten- und prozess-spezifische funktionale und anatomische Bildgebung im Operationssaal ermöglichen. Die robotergestützten bildgebenden Verfahren stellen dem Operateur koregistrierte, dynamische Bilder des Patienten im Operationssaal zur Verfügung und erlauben ihm so, die präoperative Planung optimal umzusetzen. Diese Daten werden durch dynamische, funktionelle und anatomische Bilder ergänzt. Insbesondere ist dies das erste Projekt, das Konzepte und Modelle für intraoperatives SPECT-CT entwickelt. Darüber hinaus wird eine über CT-Daten gesteuerte intraoperative US-Bildgebung eingeführt und deren Koregistrierung mit Angiographiebildern ermöglicht. Durch dieses Projekt wird die Voraussetzung geschaffen, dass die bayerische und deutsche Industrie potentiell führend in der Entwicklung einer multi-modalen, flexiblen, sicheren und zuverlässigen robotergestützten Bildgebung im Operations- und Interventionsraum der Zukunft ist.Videos
Publications
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R. Kojcev, A. Khakzar, B. Fuerst, O. Zettinig, C. Fakhry, R. DeJong, J. Richmon, R. Taylor, E. Sinibaldi, N. Navab
On the Reproducibility of Expert-Operated and Robotic Ultrasound Acquisitions International Journal of Computer Assisted Radiology and Surgery / International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Barcelona, June 2017. 
O. Zettinig, B. Frisch, S. Virga, M. Esposito, A. Rienmüller, B. Meyer, C. Hennersperger, Y.-M. Ryang , N. Navab
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3D Ultrasound Registration-based Visual Servoing for Neurosurgical Navigation International Journal of Computer Assisted Radiology and Surgery, Volume 12, Issue 9, pp 1607–1619, 2017. The original publication is available online at link.springer.com (bib) 2016 |
C. Hennersperger, B. Fuerst, S. Virga, O. Zettinig, B. Frisch, T. Neff, N. Navab
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Towards MRI-Based Autonomous Robotic US Acquisitions: A First Feasibility Study IEEE Transactions on Medical Imaging, vol. 36, iss. 2, 2017 The original publication (open access) is available online at ieeexplore.ieee.org (bib)
| J. Gardiazabal, P. Matthies, J. Vogel, B. Frisch, N. Navab, S. I. Ziegler, T. Lasser
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Flexible Mini Gamma Camera Reconstructions of Extended Sources using Step and Shoot and List Mode Medical Physics 43(12):6418-6428, 2016. (bib)
S. Virga, O. Zettinig, M. Esposito, K. Pfister, B. Frisch, T. Neff, N. Navab, C. Hennersperger
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Automatic Force-Compliant Robotic Ultrasound Screening of Abdominal Aortic Aneurysms IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, October 2016. The original publication is available online at ieeexplore.ieee.org (bib)
R. Kojcev, B. Fuerst, O. Zettinig, J. Fotouhi, S.C. Lee, B. Frisch, R. Taylor, E. Sinibaldi, N. Navab
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Dual-Robot Ultrasound-Guided Needle Placement: Closing the Planning-Imaging-Action Loop International Journal of Computer Assisted Radiology and Surgery / International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Heidelberg, June 2016. The original publication is available online at link.springer.com (bib)
O. Zettinig, B. Fuerst, R. Kojcev, M. Esposito, M. Salehi, W. Wein, J. Rackerseder, B. Frisch, N. Navab
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Toward Real-time 3D Ultrasound Registration-based Visual Servoing for Interventional Navigation IEEE International Conference on Robotics and Automation (ICRA), Stockholm, May 2016. The original publication is available online at ieeexplore.ieee.org (bib) 2015 |
O. Zettinig, A. Shah, C. Hennersperger, M. Eiber, C. Kroll, H. Kübler, T. Maurer, F. Milletari, J. Rackerseder, C. Schulte-zu-Berge, E. Storz, B. Frisch, N. Navab
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Multimodal Image-Guided Prostate Fusion Biopsy based on Automatic Deformable Registration International Journal of Computer Assisted Radiology and Surgery / 6th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Barcelona, June 2015. The original publication is available online at link.springer.com (bib)
| J. Gardiazabal, J. Vogel, P. Matthies, M. Wieczorek, B. Frisch, N. Navab, S. I. Ziegler, T. Lasser
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Fully 3D thyroid imaging with mini gamma cameras Proceedings of Fully3D, Newport, USA, June 2015 (bib)
T. Lasser, J. Gardiazabal, M. Wieczorek, P. Matthies, J. Vogel, B. Frisch, N. Navab
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Towards 3D thyroid imaging using robotic mini gamma cameras Bildverarbeitung für die Medizin, Lübeck, Germany, March 2015 (bib)
A. Hartl, D. I. Shakir, T. Lasser, S. I. Ziegler, N. Navab
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Detection models for freehand SPECT reconstruction Physics in Medicine and Biology 60(3):1031-1046, 2015 (bib) 2014 |
A. Okur, C. Hennersperger, J.B. Runyan, J. Gardiazabal, M. Keicher, S. Paepke, T. Wendler, N. Navab
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fhSPECT-US Guided Needle Biopsy of Sentinel Lymph Nodes in the Axilla: Is it Feasible? Medical Image Computing and Computer-Assisted Intervention, MICCAI 2014, Lecture Notes in Computer Science Volume 8673, 2014, pp 577-584 (bib)
J. Gardiazabal, M. Esposito, P. Matthies, A. Okur, J. Vogel, S. Kraft, B. Frisch, T. Lasser, N. Navab
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Towards personalized interventional SPECT-CT imaging Proceedings of the 17th International Conference on Medical Image Computing and Computer Assisted Interventions (MICCAI), Boston, USA, September 2014 (bib)
P. Matthies, J. Gardiazabal, A. Okur, J. Vogel, T. Lasser, N. Navab
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Mini Gamma Cameras for Intra-operative Nuclear Tomographic Reconstruction Medical Image Analysis 18(8):1329-1336, 2014 (bib) | ||||||||||||||
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Technische Universität München Institut für Informatik / I16 Boltzmannstr. 3 85748 Garching bei München Tel.: +49 89 289-17058 Fax: +49 89 289-17059 |
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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 |
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internal project page
Please contact Tobias Lasser for available student projects within this research project.
