Research in Computer-aided Interventions

Table of Content

Abstract
Contact Person and Group Coordination
Research Projects in Computer-aided Interventions
Related Publications
Working Group

Abstract

Contact Person and Group Coordination


Stefanie Demirci	Nassir Navab

Research Projects in Computer-aided Interventions

Estimation of Flow Parameters from X-ray Data

This project focuses on the quantification of blood flow based on 2D and 3D angiographic X-ray image data, which is of particular interest during minimally invasive interventional procedures such as recanalizations of stenotic vessels and embolizations of arteries that feed tumors or vascular malformations in the patient's brain, for example. Our projects cover the evaluation of model-based approaches involving CFD (computational fluid dynamics) simulations as well as methods that aim at estimating the optical flow in the images and deriving quantitative blood flow information from these results.

patient-Specific Translational research on Atherosclerosis and Diagnosis (STAnD)

i2Sense: Development of an implantable health sensing system

Atherosclerosis is deadliest disease in the world and occurs throughout vascular system like peripheral arteries, abdominal aorta, coronaries, etc. Balloon angioplasty and stenting are common treatment options, however, restenosis often happens with or without any sign of symptoms, which demands for repetitive expensive follow up routines. Within the i2Sense project we are working on an on-line/on-demand technology for monitoring of restenosis progression.

Intra-operative Human Computer Interaction and Usability Evaluations

Computerized medical systems play a vital role in the operating room, yet surgeons often face challenges when interacting with these systems during surgery. In this project we are aiming at analyzing and understanding the Operating Room specific aspects which affect the end user experience. Beside operating room specific usability evaluation approaches in this project we also try to improve the preliminary intra-operative user interaction methodologies.

Cross Modalities Image Synthesis

One of the interesting talks in the Generative and Discriminative Learning for Medical Imaging Tutorial in the last MICCAI 2014 was presented by Jerry Prince regarding Image Synthesis and cross-modalities, motivating us to work on such a challenging topic. In our project for MLMI course, we would like to implement kind of Supervised Dictionary Learning incorporating the global consistency, discriminative labeling, and the Transformation-invariant.

Registration of Angiographic Images

Angiographic images visualize vascular structure in different modalities like X-Ray, CT, or MR data sets. In many medical applications, a registration and proper visualization of the data sets, especially the vasculature is useful for a better navigation. The focus of this project lies on 2D/3D registration of angiographic data where intensity-based, feature-based, and hybrid approaches are evaluated, the latter two of them requiring an accurate 2D and 3D segmentation of the data. The main clinical partner is the radiology department of the Universitätsklinikum Großhadern (Ludwig-Maximilian Universität München) , industrial partner is Siemens Medical Solutions, Forchheim.

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[[][Bio-Innovation: From clinical needs to solution concepts]]

Learn how to successfully identify unmet clinical needs within the clinical routine and work towards possible and realistic solutions to solve those needs. Students will get to know tools helping them to be successful innovators in medical technology. This will include all steps from needs finding and selection to defining appropriate solution concepts, including the development of first prototypes. Get introduced to necessary steps for successful idea and concept creation and realize your project in an interdisciplinary teams comprising of physicists, informations scientists and business majors. During the project phase, you are supported by coaches from both industry and medicine, in order to allow for direct and continuous exchange.

Prostate Fusion Biopsy

Transrectal ultrasound (TRUS) guided biopsy remains the gold standard for diagnosis. However, it suffers from low sensitivity, leading to an elevated rate of false negative results. On the other hand, the recent advent of PET imaging using a novel dedicated radiotracer, Ga-labelled PSMA (Prostate Specific Membrane Antigen), combined with MR provides improved preinterventional identification of suspicious areas. Thus, MRI/TRUS fusion image-guided biopsy has evolved to be the method of choice to circumvent the limitations of TRUS-only biopsy. We propose a multimodal fusion image-guided biopsy framework that combines PET-MRI images with TRUS. Based on open-source software libraries, it is low cost, simple to use and has minimal overhead in clinical workflow. It is ideal as a research platform for the implementation and rapid bench to bedside translation of new image registration and visualization approaches.

Advanced Robotics for Multi-Modal Interventional Imaging (RoBildOR)

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.

Navigated Bronchoscopy

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.

SUPRA: Software Defined Ultrasound Processing for Real-Time Applications

SUPRA is an open-source pipeline for fully software defined ultrasound processing for real-time applications. Covering everything from beamforming to output of B-Mode images, SUPRA can help to improve the reproducibility of results and does allow for a full customization of the image acquisition workflow. Including all processing stages of a common ultrasound pipeline, it can be executed in 2D and 3D on consumer GPUs in real-time. Even on hardware as small as the CUDA enabled Jetson TX2, SUPRA allows for 2D imaging in real-time.

You can access the code on our github page: https://github.com/IFL-CAMP/supra
Additional information can be found in our work on SUPRA
Göbl, R. and Navab, N. and Hennersperger, C., SUPRA: Open Source Software Defined Ultrasound Processing for Real-Time Applications, eprint arXiv:1711.06127, Nov 2017, under review for IPCAI2018 The development of SUPRA was partly funded by the European Horizon 2020 Project EDEN2020.

Ultrasound-Based Brainshift Estimation and Correction

In the context of intraoperative navigation for neurosurgery, brainshift still represents one of the main challenges. After skull and dura mater opening, brain tissue undergoes dynamic spatial modification due to gravity, loss of Cerebrospinal fluid and resection of tissue. The goal of this project is the utilization of intra-cranial 3D freehand ultrasound in order to directly estimate ocurring brain-shift and allow for a subsequent correction for it within available neur-navigation systems used for guidance in the operating room.

Intra-operative Imaging and Navigation for Minimal Invasiveness in Head and Neck Cancer

Intra-operative Imaging and Navigation for Guidance in Neurosurgical Procedures

Assessment of Fluid Tissue Interaction Using Multi-Modal Image Fusion for Characterization and Progression of Coronary Atherosclerosis

Coronary artery diseases such as atherosclerosis are the leading cause of death in the industrialized world. In this project, we develop computational tools for segmentation and registration problems on intravascular images including IVUS (Intravascular Ultrasound) and OCT (Optical Coherence Tomography). One sample component of this project is Automatic Stent Implant Follow-up from Intravascular OCT Pullbacks. The stents are automatically detected and their distribution is analyzed for monitoring of the stents: their malpositioning and/or tissue growth over stent struts.

Deformable Guide Wire Tracking

These days, X-ray fluoroscopic imaging is the modality used most widely to guide physicians in angiographic interventions. Current guidance procedures are based on a roadmap, e.g. a digital subtracted angiography (DSA) acquired from a fixed viewpoint and the injection of contrast agent to visualize the current vessel anatomy. Such roadmaps cannot directly be blended with the fluoroscopic sequence due to misalignment caused by respiratory motion. A fundamental step toward a successful integration of any navigation application into clinical routine is the estimation and compensation of respiratory motion. We propose a novel method for deformable tracking of multiple ridge segments based on a MAP-MRF formulation and efficient discrete optimization. Ridges are modeled as B-Spline curves which allows us to apply smooth deformations based on a minimal number of parameters. Our tracking framework is well adapted to the noisy domain of fluoroscopic imaging and the handling of multiple segments.

MeTaTop A Multi Sensory Table Top System for Medical Procedures

A tabletop system in medical environments can be used for interactive and collaborative analysis of patient data but also as a multimedia user interface within sterile space. For preoperative planning physicians in charge with a particular patient meet to discuss the medical case and plan further steps for therapy. For this reason, they could collaboratively view and browse through all kind of available medical imaging data with the tabletop system. Alternatively such a system could be a central interaction device for all kind of equippment within the OR requiring user input, however, can not be operated by the sterile surgeon. We believe that the projection of all kind of user and information interfaces on a sterile glass plane would facilitate the clinical workflow.
This project is strongly related to the Tangible Interaction Surface for Collaboration between Humans project.

Endovascular Stenting of Aortic Aneurysms

Endovascular stenting is a minimally invasive treatment technique for aortic aneurysms or dissections. Thereby, a certain aortic prosthesis (stent graft) is placed inside the aortic aneurysm in order to prevent a life-threatening rupture of the aortic wall. Prior to the intervention, a computed tomography angiography (CTA) is acquired on which the surgical staff can measure the parameter of the desired stent graft and finalize the intervention workflow. The entire interventional catheter navigation is done under 2D angiography imaging where the physician is missing the important 3D information. The purpose of our project is two-fold:
1. In the planning phase, a modified graph cuts algorithm automatically segments the aorta and aneurysm, so the surgical staff can choose an appropriate type of stent to match the segmented location, length, and diameter of the aneurysm and aorta. By visualizing the defined stent graft next to the three-dimensionally reconstructed aneurysm, mismeasurements can be detected in an early stage. Our main goal is the creation of an interactive simulation system that predicts the behaviour of the aortic wall and the movement of the implanted stent graft.
2. During implantation of the stent graft, after an intensity based registration of CTA and angiography data, the current navigation can be visualized in the 3D CT data set at any time. This includes solutions for electro-magnetic tracking of catheters as well as guide wires and stent grafts. Eventually, Our main goal is the creation of solutions that enable the surgeon to enhance the accuracy of the navigation and positioning, along with a minimum use of angiography, leading to less radiation exposure and less contrast agent injection.

Real-time fusion of ultrasound and gamma probe for navigated localization of malignancy

Intra-operative localization of non-superficial cancerous lesions in non-hollow organs like liver, kidney, etc is currently facilitated by intra-operative ultrasound (IOUS) and palpation. This yields a high rate of false positives due to benign abnormal regions and thus unnecessary resections with increased complications and morbidity. In this project we integrate functional nuclear information from gamma probes with IOUS, to provide a synchronized, real-time visualization that facilitates the detection of active tumors and metastases intra-operatively. The bet of this project is that the inclusion of an advanced, augmented visualization provides more reliability and confidence on classifying lesions prior to the resection.

Freehand SPECT for Sentinel Lymph Node Localization

Nuclear medicine imaging modalities assist commonly in surgical guidance given their functional nature. However, when used in the operating room they present limitations. Pre-operative tomographic 3D imaging can only serve as a vague guidance intra-operatively, due to movement, deformation and changes in anatomy since the time of imaging, while standard intra-operative nuclear measurements are limited to 1D or (in some cases) 2D images with no depth information. To resolve this problem we propose the synchronized acquisition of position, orientation and readings of gamma probes intra-operatively to reconstruct a 3D activity volume. In contrast to conventional emission tomography, here, in a first proof-of-concept, the reconstruction succeeds without requiring symmetry in the positions and angles of acquisition, which allows greater flexibility and thus opens doors towards 3D intra-operative nuclear imaging.

Camera Augmented Mobile C-arm ( CamC )

Mobile C-arms are an everyday tool to acquire X-ray images in the operating room during surgery. The Camera Augmented Mobile C-arm (CamC) system augments a regular mobile C-arm by a video camera for X-ray and video image overlay. Thanks to the mirror construction and one time calibration of the device, the acquired X-ray images are co-registered with the video images without any further calibration or registration during the intervention. The CamC system can support a wide range of potential clinical applications, such as needle guidance, interlocking of intramedullary nails, and pedicle screw placement.

3D user interfaces for medical interventions

This work group aims at practical user interfaces for 3D imaging data in surgery and medical interventions. The usual monitor based visualization and mouse based interaction with 3D data will not present acceptable solutions. Here we study the use of head mounted displays and advanced interaction techniques as alternative solutions. Different issues such as depth perception in augmented reality environment and optimal data representation for a smooth and efficient integration into the surgical workflow are the focus of our research activities. Furthermore appropriate ways of interaction within the surgical environment are investigated.

Magneto-Optic Tracking of a Flexible Laparoscopic Ultrasound Transducer

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.

Port Placement in Minimally Invasive Endoscopic Surgery

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.

Laparoscope Augmentation for Minimally Invasive Liver Resection

In recent years, an increasing number of liver tumor indications were treated by minimally invasive laparoscopic resection. Besides the restricted view, a major issue in laparoscopic liver resection is the precise localization of the vessels to be divided. To navigate the surgeon to these vessels, pre-operative imaging data can hardly be used due to intra-operative organ deformations caused by appliance of carbon dioxide pneumoperitoneum and respiratory motion.

Therefore, we propose to use an optically tracked mobile C-arm providing cone-beam computed tomography imaging capability intra-operatively. After patient positioning, port placement, and carbon dioxide insufflation, the liver vessels are contrasted and a 3D volume is reconstructed during patient exhalation. Without any further need for patient registration, the volume can be directly augmented on the live laparoscope video. This augmentation provides the surgeon with essential aid in the localization of veins, arteries, and bile ducts to be divided or sealed.

Current research focuses on the intra-operative use and tracking of mobile C-arms as well as laparoscopic ultrasound, augmented visualization on the laparoscope's view, and methods to synchronize respiratory motion.

Intra-operative Beta Probe Surface Imaging and Navigation for Optimal Tumor Resection

In minimally invasive tumor resection, the goal is to perform a minimal but complete removal of cancerous cells. In the last decades interventional beta probes supported the detection of remaining tumor cells. However, scanning the patient with an intraoperative probe and applying the treatment are not done simultaneously. The main contribution of this work is to extend the one dimensional signal of a nuclear probe to a four dimensional signal including the spatial information of the distal end of the probe. This signal can be then used to guide the surgeon in the resection of residual tissue and thus increase its spatial accuracy while allowing minimal impact on the patient.

EDEN2020: Enhanced Delivery Ecosystem for Neurosurgery

EDEN2020 (Enhanced Delivery Ecosystem for Neurosurgery) aims to develop the gold standard for one-stop diagnosis and treatment of brain disease by delivering an integrated technology platform for minimally invasive neurosurgery. A team of first-class industrial partners (Renishaw plc. and XoGraph ltd.), leading clinical oncological neurosurgery team (Università di Milano, San Raffaele and Politecnico di Milano) lead by Prof. Lorenzo Bello and the involvement of leading experts in shape sensing (Universitair Medisch Centrum Groningen) under supervision of Prof. Dr. Sarthak Misra The project is coordinated by Dr. Rodriguez y Baena, Imperial College London. His team provides the core technology for the envisioned system, the bendable robotic needle. During the course of EDEN2020 this interdisciplinary team will work on the integration of 5 key concepts, namely (1) pre-operative MRI and diffusion-MRI imaging, (2) intra-operative ultrasounds, (3) robotic assisted catheter steering, (4) brain diffusion modelling, and (5) a robotics assisted neurosurgical robotic product (the Neuromate), into a pre-commercial prototype which meets the pressing demand for better and less invasive neurosurgery. Our chair will be focusing on the imaging components (i.e. (1) and (2)), targeting the realtime compensation of tissue movement and accurate localization of the flexible catheters at hand. We will further extend the findings of FP7 ACTIVE, in which we successfully combined pre-operative MRI with intra-operative US through deformable 3D-2D registration, making us most qualified for this role.

CAMPCom

To ease the development of a hybrid modality we have created a generic, portable, lightweight, and easily extensible, client-server based framework, implemented in C++, to control the communication between multiple imaging and tracking devices. Our framework Computer-Aided Medical Procedures Communication (CAMPCom), allows developers of hybrid systems to focus on the most important implementation aspects by freeing them from the more generic tasks of data serialization and exchange.

BioInnovation: From clinical needs to solution concepts

Computer-Aided Ophthalmic Procedures

In the current workflow of opthamologic surgeries, the surgeon observes the scene in an indirect way through a microscope while performing the surgery with the necessary high handling precision. During membrane peeling, for example, the surgeon has to grasp an anatomical layer of only 10 μm off the retina without damaging it. However, under this limited microscopic view, it becomes very challenging to infer the distance of the surgical instrument to the retina. Issues such as lens distortion, high level of blurriness and lack of haptic feedback complicate the task further. Recently, an intraoperative version of the Optical Coherence Tomography (OCT) was introduced, which provides the 3D information along a scanning line. On the one hand, this modality provides depth information during the surgery. On the other hand, the device has to be manually positioned to the region of interest which further complicates the current workflow of the surgeon (who already has to manipulate the surgical tool, the handheld light source and the microscope). The main goal of the project is support the surgeon in the current workflow and provide additional information during the surgery via advanced computer vision, visualization and augmented reality algorithms.

MedInnovate: From unmet clinical needs to solution concepts

In-PSMA Radioguided Surgery

With the advent of 68Ga-HBED-PSMA PET hybrid imaging techniques, even small and atypical localized metastatic lesions of prostate cancer can be visualized. However, these lesions might not be easy to localize intraoperatively. The aim of project is to evaluate intraoperative detection of metastatic lesions using a gamma probe and freehand SPECT after injection of radioactive-labelled PSMA-ligands in correlation with postoperative histological findings.

Related Publications

2020
	A. K. Kogler, A. M. Polemi, S. Nair, S. Majewski, L. T. Dengel, C. L. Slingluff, B. Kross, S. J. Lee, J. E. McKisson^?, J. McKisson^?, A. G. Weisenberger, B. L. Welch, T. Wendler, P. Matthies, J. Traub, M. Witt, M. B. Williams Evaluation of camera-based freehand SPECT in preoperative sentinel lymph node mapping for melanoma patients EJNMMI Research 10. https://doi.org/10.1186/s13550-020-00729-8. (bib)
	L. Maier-Hein, I. Gockel, S. Speidel, T. Wendler, D. Teber, K. Maerz, M. Tizabi, F. Nickel, N. Navab, B. Mueller-Stich Intraoperative Imaging and Visualization Der Onkologe, volume 26, pages 31 to 43. https://doi.org/10.1007/s00761-019-00695-4 (bib)
2019
	M. N. van Oosterom, P. Meershoek, , F. Pinto, P. Matthies, H. Simon, T. Wendler, N. Navab, C. J. H. van de Velde, H.G. van der Poel, F.W.B. van Leeuwen Extending the hybrid surgical guidance concept with freehand fluorescence tomography IEEE Trans Med Imaging;39(1):226-235. https://doi.org/10.1109/tmi.2019.2924254 (bib)
2017
	R. Stauder, D. Ostler, T. Vogel, D. Wilhelm, S. Koller, M. Kranzfelder, N. Navab Surgical data processing for smart intraoperative assistance systems Innovative Surgical Sciences, 2(3), 145-152, 2017 (bib)
	R. Stauder, E. Kayis, N. Navab Learning-based Surgical Workflow Detection from Intra-Operative Signals arXiv:1706.00587 [cs.LG], 2017 (bib)
	A. Okur, R. Stauder, H. Feußner, N. Navab Quantitative Characterization of Components of Computer Assisted Interventions arXiv:1702.00582 [cs.OH], 2017 (bib)
2016
	R. Stauder, D. Ostler, M. Kranzfelder, S. Koller, H. Feußner, N. Navab The TUM LapChole dataset for the M2CAI 2016 workflow challenge arXiv:1610.09278 [cs.CV], 2016 (bib)
	T. Wendler, S. Paepke Axillary sentinel node aspiration biopsy: towards minimally invasive lymphatic staging in breast cancer Clinical and Translational Imaging volume 4, pages377â€“384. https://doi.org/10.1007/s40336-016-0205-8 (bib)
	A. Markus, A. K. Ray, D. Bolla, J. Müller, P.-A. Diener, T. Wendler, R. Hornung Sentinel lymph node biopsy in endometrial and cervical cancers using freehand SPECTâ€”first experience Gynecological Surgery volume 13, pages499â€“506. https://doi.org/10.1007/s10397-016-0969-x (bib)
	M. N. van Oosterom, T. Engelen, N. S. van den Berg, G. H. KleinJan^?, H.G. van der Poel, T. Wendler, C. J. H. van de Velde, N. Navab, F.W.B. van Leeuwen Navigation of a robot-integrated fluorescence laparoscope in preoperative SPECT/CT and intraoperative freehand SPECT imaging data: a phantom study J Biomed Opt 21(8):86008. https://doi.org/10.1117/1.jbo.21.8.086008 (bib)
	G. H. KleinJan^?, N. S. van den Berg, M. N. van Oosterom, T. Wendler, M. Miwa, A. Bex, K. Hendricksen, S. Horenblas, F.W.B. van Leeuwen Toward (Hybrid) Navigation of a Fluorescence Camera in an Open Surgery Setting J Nucl Med 57(10):1650-1653. https://doi.org/10.2967/jnumed.115.171645 (bib)
	C. Bluemel, P. Matthies, K. Herrmann, S. P. Povoski 3D Scintigraphic Imaging and Navigation in Radioguided Surgery: Freehand SPECT Technology and its Clinical Applications Expert Review of Medical Devices, 2016 (bib)
2015
	R. DiPietro ^?, R. Stauder, E. Kayis, A. Schneider, M. Kranzfelder, H. Feußner, G. D. Hager, N. Navab Automated Surgical-Phase Recognition Using Rapidly-Deployable Sensors MICCAI Workshop on Modeling and Monitoring of Computer Assisted Interventions (M2CAI), Munich, Germany, October 2015 (bib)
	A. Ahmadi, F. Milletari, N. Navab, M. Schuberth, A. Plate, K. Bötzel 3D Transcranial Ultrasound as a Novel Intra-operative Imaging Technique for DBS surgery - A Feasibility Study In Proc. 6th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Barcelona (SP), June 24, 2015 (bib)
	T. Lasser, J. Gardiazabal, M. Wieczorek, P. Matthies, J. Vogel, B. Frisch, N. Navab 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 Detection models for freehand SPECT reconstruction Physics in Medicine and Biology 60(3):1031-1046, 2015 (bib)
2014
	O. R. Brouwer, N. S. van den Berg, H. M. Mathéron, T. Wendler, H.G. van der Poel, S. Horenblas, R. A. Valdés-Olmos, F.W.B. van Leeuwen Feasibility of intraoperative navigation to the sentinel node in the groin using preoperatively acquired single photon emission computerized tomography data: transferring functional imaging to the operating room J Urol 192(6):1810-6. https://doi.org/10.1016/j.juro.2014.03.127 (bib)
	R. Stauder, A. Okur, N. Navab Detecting and Analyzing the Surgical Workflow to Aid Human and Robotic Scrub Nurses The 7th Hamlyn Symposium on Medical Robotics, London, UK, July 2014 (bib)
	A. Okur, R. Voigt, R. Stauder, N. Navab Investigation of performance log files of freehand SPECT acquisitions for usage characteristics and surgical phase determination The 7th Hamlyn Symposium on Medical Robotics, London, UK, July 2014 (bib)
	P. Matthies, J. Gardiazabal, A. Okur, T. Lasser, N. Navab Accuracy evaluation of interventional nuclear tomographic reconstruction using mini gamma cameras The 7th Hamlyn Symposium on Medical Robotics, London, UK, July 2014 (bib)
	R. Stauder, A. Okur, L. Peter, A. Schneider, M. Kranzfelder, H. Feußner, N. Navab Random Forests for Phase Detection in Surgical Workflow Analysis The 5th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Fukuoka, Japan, June 2014 (bib)
	P. Matthies, J. Gardiazabal, A. Okur, J. Vogel, T. Lasser, N. Navab Mini Gamma Cameras for Intra-operative Nuclear Tomographic Reconstruction Medical Image Analysis 18(8):1329-1336, 2014 (bib)
2013
	M. Friebe, J. Traub Translational research with students - first experience from a new lecture format in image guided surgeries - innovation creation?! 25th International Conference of the International Society for Medical Innovation and Technology, iSMIT 2013 in Baden-Baden, Germany, September 05-07, 2013 (bib)
	S. Bauer, S. Seitel, H. Hoffmann, T. Blum, J. Wasza, M. Balda, H.P. Meinzer, N. Navab, J. Hornegger, L. Maier-Hein Real-Time Range Imaging in Health Care: A Survey Time-of-Flight and Depth Imaging. Sensors, Algorithms, and Applications Lecture Notes in Computer Science Volume 8200, 2013, pp 228-254 (bib)
	P. Matthies, A. Okur, T. Wendler, N. Navab, M. Friebe Combination of intra-operative freehand SPECT imaging with MR images for guidance and navigation IEEE Engineering in Medicine and Biology (EMBC), Osaka, Japan, July 2013. (bib)
	C. Bluemel, A. Schnelzer, A. Okur, A. Ehlerding, S. Paepke, K. Scheidhauer, M. Kiechle Freehand SPECT for image-guided sentinel lymph node biopsy in breast cancer European Journal of Nuclear Medicine and Molecular Imaging. The original publication is available online at www.springerlink.com (bib)
	J. Vogel, T. Lasser, J. Gardiazabal, N. Navab Trajectory optimization for intra-operative nuclear tomographic imaging Medical Image Analysis 17(7):723-731, 2013. (bib)
	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)
	N. Aubry, E. Auffray, F. B. Mimoun, N. Brillouet, R. Bugalho, , O. Charles, D. Cortinovis, P. Courday, A. Cserkaszky, C. Damon, K. Doroud, J.-M. Fischer, G. Fornaro, J.-M. Fourmigue, B. Frisch, B. Fuerst, J. Gardiazabal, K. Gadow, E. Garutti, C. Gaston, A. Gil-Ortiz, E. Guedj, T. Harion, P. Jarron, J. Kabadanian, T. Lasser, R. Laugier, P. Lecoq, D. Lombardo, S. Mandai, E. Mas, T. Meyer, O. Mundler, N. Navab, C. Ortigão, M. Paganoni, D. Perrodin, M. Pizzichemi, J. O. Prior, T. Reichl, M. Reinecke, M. Rolo, H.-C. Schultz-Coulon, M. Schwaiger, W. Shen, A. Silenzi, J. C. Silva, , I. Somlai-Schweiger, R. Stamen, J. Traub, J. Varela, V. Veckalns, V. Vidal, J. Vishwas, T. Wendler, C. Xu, S. I. Ziegler, M. Zvolsky EndoTOFPET-US: a novel multimodal tool for endoscopy and positron emission tomography JINST 8 C04002. https://doi.org/10.1088/1748-0221/8/04/C04002 (bib)
	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)
	T. Reichl Advanced Hybrid Tracking and Navigation for Computer-Assisted Interventions Dissertation. Official publication available at mediatum.ub.tum.de. (bib)
2012
	J. Beitzel, A. Ahmadi, A. Karamalis, W. Wein, N. Navab Ultrasound Bone Detection Using Patient-Specific CT Prior International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), San Diego, USA, September 1 2012. (bib)
	P. Lo, B. v. Ginneken, J. M. Reinhardt, T. Yavarna, P. A. d. Jong, B. Irving, C. Fetita, M. Ortner, R. Pinho, J. Sijbers, M. Feuerstein, A. Fabijanska, C. Bauer, R. Beichel, C. S. Mendoza, R. Wiemker, J. Lee, A. P. Reeves, S. Born, weinheimer, E. M. v. Rikxoort, J. Tschirren, K. Mori, B. Odry, D. P. Naidich, I. Hartmann, E. A. Hoffman, M. Prokop, J. H. Pedersen, M. d. Bruijne Extraction of Airways from CT (EXACT'09) IEEE Transactions on Medical Imaging, July 2012 (bib)
	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)
	S. Weidert, L. Wang, A. von der Heide, N. Navab, E. Euler Intraoperative augmented-reality-visualisierung: Aktueller stand der entwicklung und erste erfahrungen mit dem camc Unfallchirurg, 2012 (Accepted for publication) (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)
	R. Stauder, V. Belagiannis, L. Schwarz, A. Bigdelou, E. Soehngen, S. Ilic, N. Navab A User-Centered and Workflow-Aware Unified Display for the Operating Room MICCAI Workshop on Modeling and Monitoring of Computer Assisted Interventions (M2CAI), Nice, France, October 2012 (bib)
	M. Feuerstein, B. Glocker, T. Kitasaka, Y. Nakamura, S. Iwano, K. Mori Mediastinal Atlas Creation from 3-D Chest Computed Tomography Images: Application to Automated Detection and Station Mapping of Lymph Nodes Medical Image Analysis, vol. 16, no. 1, pp. 63-74, January 2012. The original publication is available online at www.elsevier.com (bib)
	L. Wang, P. Fallavollita, R. Zou, X. Chen, S. Weidert, N. Navab Closed-form inverse kinematics for interventional C-arm X-ray imaging with six degrees of freedom: modeling and application IEEE Transactions on Medical Imaging (bib)
2011
	M. Wieczorek, A. Aichert, P. Fallavollita, O. Kutter, A. Ahmadi, L. Wang, N. Navab Interactive 3D visualization of a single-view X-Ray image Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011), Toronto, Canada, September 2011. (bib)
	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)
	S. Weidert, L. Wang, P. Thaller, J. Landes, A. Brand, N. Navab, E. Euler X-ray Stitching for Intra-operative Mechanical Axis Determination of the Lower Extremity the 11th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, London, UK, June 15-19 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)
	L. Wang, R. Zou, S. Weidert, J. Landes, E. Euler, D. Burschka, N. Navab Closed-form inverse kinematics for intra-operative mobile C-arm positioning with six degrees of freedom SPIE Medical Imaging, Lake Buena Vista (Orlando), Florida, USA, February 2011 (bib)
2010
	C. Bichlmeier Immersive, Interactive and Contextual In-Situ Visualization for Medical Applications Dissertation an der Fakultät für Informatik, Technische Universität München, 2010 ( online version available here) (bib)
	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)
	C. Bichlmeier, E. Euler, T. Blum, N. Navab Evaluation of the Virtual Mirror as a Navigational Aid for Augmented Reality Driven Minimally Invasive Procedures The 9th IEEE and ACM International Symposium on Mixed and Augmented Reality, Seoul, Korea, Oct. 13 - 16, 2010. The original publication is available online at ieee.org. (bib)
	T. Kitasaka, H. Yano, M. Feuerstein, K. Mori Bronchial region extraction from 3D chest CT image by voxel classification based on local intensity structure Third International Workshop on Pulmonary Image Analysis, September 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)
	L. Wang, R. Zou, S. Weidert, J. Landes, E. Euler, D. Burschka, N. Navab Modeling Kinematics of Mobile C-arm and Operating Table as an Integrated Six Degrees of Freedom Imaging System The 5th International Workshop on Medical Imaging and Augmented Reality, MIAR 2010, Beijing, China, September 19-20, 2010 (bib)
	F. Manstad-Hulaas, G. A. Tangen, S. Demirci, M. Pfister, S. Lydersen, T. A. Nagelhus Hernes Endovascular Image-Guided Navigation - Validation of Two Volume-Volume Registration Algorithms Minimally Invasive Therapy & Allied Technologies 20(5), pp. 282 - 289, 2011 (bib)
	A. Ahmadi, F. Pisana, E. DeMomi ^?, N. Navab, G. Ferrigno User friendly graphical user interface for workflow management during navigated robotic-assisted keyhole neurosurgery Computer Assisted Radiology (CARS), 24th International Congress and Exhibition, Geneva, CH, June 2010 (bib)
	L. Wang, J. Traub, S. Weidert, S.M. Heining, E. Euler, N. Navab Parallax-Free Intra-Operative X-ray Image Stitching the MICCAI 2009 special issue of the Journal Medical Image Analysis (bib)
	L. Wang, J. Landes, S. Weidert, T. Blum, A. von der Heide, E. Euler, N. Navab First Animal Cadaver Study for Interlocking of Intramedullary Nails under Camera Augmented Mobile C-arm A Surgical Workflow Based Preclinical Evaluation the 1st International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Switzerland, June 23 2010. The original publication is available online at www.springerlink.com. (bib)
	S. Weidert, L. Wang, J. Landes, A. von der Heide, N. Navab, E. Euler First Surgical Procedures under Camera-Augmented Mobile C-arm (CamC) guidance The 3rd Hamlyn Symposium for Medical Robotics ,London, UK, May 25 2010 (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)
	P. Wucherer, C. Bichlmeier, M. Eder, L. Kovacs, N. Navab Multimodal Medical Consultation for Improved Patient Education Proceedings of Bildverarbeitung fuer die Medizin (BVM 2010), Aachen, Germany, March 2010 (bib)
	M. Wieczorek, A. Aichert, O. Kutter, C. Bichlmeier, J. Landes, S.M. Heining, E. Euler, N. Navab GPU-accelerated Rendering for Medical Augmented Reality in Minimally-Invasive Procedures Proceedings of Bildverarbeitung fuer die Medizin (BVM 2010), Aachen, Germany, March 14-16 2010 (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)
	M. Feuerstein, T. Kitasaka, K. Mori Adaptive Model Based Pulmonary Artery Segmentation in 3D Chest CT SPIE Medical Imaging, San Diego, California, USA, February 2010 (bib)
	P. Dressel, L. Wang, O. Kutter, J. Traub, S.M. Heining, N. Navab Intraoperative positioning of mobile C-arms using artificial fluoroscopy 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
	H. Yano, M. Feuerstein, T. Kitasaka, K. Mori Study on bronchus region extraction from 3D chest CT images using local intensity structure analysis 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	T. Kugo, M. Feuerstein, T. Kitasaka, K. Mori A study on construction of respiratory lung motion model for bronchoscope guidance system 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	C. Bichlmeier, S.M. Heining, L. Omary, P. Stefan, B. Ockert, E. Euler, N. Navab MeTaTop: A Multi-Sensory and Multi-User Interface for Collaborative Analysis of Medical Imaging Data Interactive Demo (ITS 2009), Banff, Canada, November 2009 (bib)
	T. Sugiura, M. Feuerstein, T. Kitasaka, K. Imaizumi, Y. Hasegawa, K. Mori A study on a method for bronchoscope tracking considering breathing motion by using bronchial structure 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, M. Mori, H. Takabatake, H. Natori, K. Imaizumi, Y. Hasegawa, K. Mori Improvement of Bronchoscope Tracking by Combining SURF Features Based Camera Motion Estimation and Image Registration 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	C. Bichlmeier, S. Holdstock, S.M. Heining, S. Weidert, E. Euler, O. Kutter, N. Navab Contextual In-Situ Visualization for Port Placement in Keyhole Surgery: Evaluation of Three Target Applications by Two Surgeons and Eighteen Medical Trainees The 8th IEEE and ACM International Symposium on Mixed and Augmented Reality, Orlando, US, Oct. 19 - 22, 2009. (bib)
	C. Bichlmeier, M. Kipot, S. Holdstock, S.M. Heining, E. Euler, N. Navab A Practical Approach for Intraoperative Contextual In-Situ Visualization International Workshop on Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI-ARCS 2009), London, UK, September 2009 (bib)
	M. Feuerstein, T. Kitasaka, K. Mori Automated Anatomical Likelihood Driven Extraction and Branching Detection of Aortic Arch in 3-D Chest CT Second International Workshop on Pulmonary Image Analysis, September 2009 (bib)
	M. Feuerstein, T. Kitasaka, K. Mori Adaptive Branch Tracing and Image Sharpening for Airway Tree Extraction in 3-D Chest CT Second International Workshop on Pulmonary Image Analysis, September 2009 (bib)
	C. Bichlmeier, S.M. Heining, M. Feuerstein, N. Navab The Virtual Mirror: A New Interaction Paradigm for Augmented Reality Environments IEEE Trans. Med. Imag., vol. 28, no. 9, pp. 1498-1510, September 2009 (bib)
	L. Wang, J. Traub, S. Weidert, S.M. Heining, E. Euler, N. Navab Parallax-free Long Bone X-ray Image Stitching Medical Image Computing and Computer-Assisted Intervention (MICCAI), London, UK, September 20-24 2009 (bib)
	H. Yano, D. Deguchi, M. Feuerstein, K. Mori, T. Kitasaka, Y. Suenaga Study on bronchus region extraction from 3D chest CT images based on analysis of local intensity value distribution 28th Meeting of the Japanese Society of Medical Imaging Technology, Nagoya, Japan, August 2009 (bib)
	X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori SIFT Feature-based Motion Estimation for Bronchoscope Tracking 28th Meeting of the Japanese Society of Medical Imaging Technology, Nagoya, Japan, August 2009 (bib)
	T. Kugo, M. Feuerstein, K. Mori, T. Kitasaka, Y. Suenaga, Y. Hasegawa, K. Imaizumi, S. Iwano A preliminary study on making respiratory motion model for bronchoscope guidance system 28th Meeting of the Japanese Society of Medical Imaging Technology, Nagoya, Japan, August 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)
	H. Yano, M. Feuerstein, T. Kitasaka, K. Mori Study on bronchus region extraction from 3D chest CT images using local intensity structure analysis and CT value distribution features Medical Imaging Workshop of the Institute of Electronics, Information and Communication Engineers, Tokyo, Japan, July 2009 (bib)
	A. Ahmadi, T. Klein, N. Navab Advanced Planning and Ultrasound Guidance for Keyhole Neurosurgery in ROBOCAST Russian Bavarian Conference (RBC), Munich, GER, July 2009 (bib)
	A. Ahmadi, T. Klein, N. Navab, R. Roth, R.R. Shamir, L. Joskowicz, E. DeMomi ^?, G. Ferrigno, L. Antiga, R.I. Foroni Advanced Planning and Intra-operative Validation for Robot-Assisted Keyhole Neurosurgery In ROBOCAST International Conference on Advanced Robotics (ICAR), Munich, GER, June 2009 (bib)
	B. Ockert, C. Bichlmeier, S.M. Heining, O. Kutter, N. Navab, E. Euler Development of an Augmented Reality (AR) training environment for orthopedic surgery procedures Proceedings of The 9th Computer Assisted Orthopaedic Surgery (CAOS 2009), Boston, USA, June, 2009 (bib)
	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)
	N. Navab, S.M. Heining, J. Traub Camera Augmented Mobile C-arm (CAMC): Calibration, Accuracy Study and Clinical Applications IEEE Transactions Medical Imaging, 29 (7), 1412-1423 (bib)
	L. Wang, J. Traub, S.M. Heining, S. Benhimane, R. Graumann, E. Euler, N. Navab Long Bone X-ray Image Stitching using C-arm Motion Estimation Proceedings of Bildverarbeitung fuer die Medizin (BVM 2009), Heidelberg, Germany, March 22-24 2009 (bib)
	L. Wang, S. Weidert, J. Traub, S.M. Heining, C. Riquarts, E. Euler, N. Navab Camera Augmented Mobile C-arm: Towards Real Patient Study Proceedings of Bildverarbeitung fuer die Medizin (BVM 2009), Heidelberg, Germany, March 22-24 2009 (bib)
	M. Feuerstein, D. Deguchi, T. Kitasaka, S. Iwano, K. Imaizumi, Y. Hasegawa, Y. Suenaga, K. Mori Automatic Mediastinal Lymph Node Detection in Chest CT SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
	Z. Jiang, K. Mori, Y. Nimura, M. Feuerstein, T. Kitasaka, Y. Suenaga, Y. Hayashi, E. Ito, M. Fujii, T. Nagatani, Y. Kajita, T. Wakabayashi, J. Yoshida An Improved Method for Compensating Ultra-tiny Electromagnetic Tracker Utilizing Position and Orientation Information and Its Application to a Flexible Neuroendoscopic Surgery Navigation System SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
	T. Sugiura, D. Deguchi, M. Feuerstein, T. Kitasaka, Y. Suenaga, K. Mori A method for accelerating bronchoscope tracking based on image registration by using GPU SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
2008
	C. Bichlmeier, B. Ockert, S.M. Heining, A. Ahmadi, N. Navab Stepping into the Operating Theater: ARAV - Augmented Reality Aided Vertebroplasty The 7th IEEE and ACM International Symposium on Mixed and Augmented Reality, Cambridge, UK, Sept. 15 - 18, 2008. (bib)
	J. Traub, T. Sielhorst, S.M. Heining, N. Navab Advanced Display and Visualization Concepts for Image Guided Surgery IEEE/OSA Journal of Display Technology; Special Issue on Medical Displays, Volume 4, Issue 4, Dec. 2008 (bib)
	T. Sielhorst, M. Feuerstein, N. Navab Advanced Medical Displays: A Literature Review of Augmented Reality IEEE/OSA Journal of Display Technology; Special Issue on Medical Displays, Volume 4, Issue 4, Dec. 2008 (bib)
	H. Yano, D. Deguchi, M. Feuerstein, T. Kitasaka, K. Mori, Y. Suenaga A study on bronchial area extraction from 3D chest CT images using CT value distribution features 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	T. Sugiura, D. Deguchi, M. Feuerstein, T. Kitasaka, K. Mori, Y. Suenaga, K. Imaizumi, Y. Hasegawa A study on a method for accelerating bronchoscope tracking based on image registration on GPU 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori A Study on Feature Point Extraction from Bronchoscopic Images for Bronchoscope Tracking 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	M. Feuerstein, D. Deguchi, T. Kitasaka, S. Iwano, K. Imaizumi, Y. Hasegawa, Y. Suenaga, K. Mori Automatic Detection of Mediastinal Lymph Nodes in Contrast-Enhanced Chest CT 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	O. Kutter, A. Aichert, C. Bichlmeier, J. Traub, S.M. Heining, B. Ockert, E. Euler, N. Navab Real-time Volume Rendering for High Quality Visualization in Augmented Reality International Workshop on Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI-ARCS 2008), USA, New York, September 2008 (bib)
	C. Bichlmeier, B. Ockert, O. Kutter, M. Rustaee, S.M. Heining, N. Navab The Visible Korean Human Phantom: Realistic Test & Development Environments for Medical Augmented Reality International Workshop on Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI-ARCS 2008), USA, New York, September 2008 (bib)
	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)
	J. Traub, A. Ahmadi, N. Padoy, L. Wang, S.M. Heining, E. Euler, P. Jannin, N. Navab Workflow Based Assessment of the Camera Augmented Mobile C-arm System International Workshop on Augmented Reality environments for Medical Imaging and Computer-aided Surgery (AMI-ARCS 2008), New York, NY, USA, September 2008 (bib)
	L. Wang, J. Traub, S.M. Heining, S. Benhimane, R. Graumann, E. Euler, N. Navab Long Bone X-ray Image Stitching Using Camera Augmented Mobile C-arm Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2008, New York, USA, September 6-10 2008 (bib)
	F. Wimmer, C. Bichlmeier, S.M. Heining, N. Navab Creating a Vision Channel for Observing Deep-Seated Anatomy in Medical Augmented Reality Proceedings of Bildverarbeitung fuer die Medizin (BVM 2008), Munich, Germany, April 2008 (bib)
	J. Traub, S.M. Heining, E. Euler, N. Navab Two camera augmented mobile C-arm – System setup and first experiments Proceedings of The 8th Computer Assisted Orthopaedic Surgery (CAOS 2008), Hong Kong, China, June, 2008 (bib)
	S.M. Heining, C. Bichlmeier, E. Euler, N. Navab Smart Device: Virtually Extended Surgical Drill Proceedings of The 8th Computer Assisted Orthopaedic Surgery (CAOS 2008), Hong Kong, China, June, 2008 (bib)
	N. Navab, J. Traub, A. K. Buck, S. I. Ziegler, T. Wendler Navigated nuclear probes for intra-operative functional imaging Proceedings of 5th IEEE International Symposium on Biomedical Imaging (ISBI 2008), Paris, France, May 14 - 17 2008, pp. 1395-1398 (bib)
	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)
2007
	C. Bichlmeier, S.M. Heining, M. Rustaee, N. Navab Laparoscopic Virtual Mirror for Understanding Vessel Structure: Evaluation Study by Twelve Surgeons The Sixth IEEE and ACM International Symposium on Mixed and Augmented Reality, Nara, Japan, Nov. 13 - 16, 2007. (bib)
	C. Bichlmeier, F. Wimmer, S.M. Heining, N. Navab Contextual Anatomic Mimesis: Hybrid In-Situ Visualization Method for Improving Multi-Sensory Depth Perception in Medical Augmented Reality The Sixth IEEE and ACM International Symposium on Mixed and Augmented Reality, Nara, Japan, Nov. 13 - 16, 2007. (bib)
	T. Wendler, M. Feuerstein, J. Traub, T. Lasser, J. Vogel, F. Daghighian, S. I. Ziegler, N. Navab Real-time fusion of ultrasound and gamma probe for navigated localization of liver metastases Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October 29 - November 2007, LNCS 4792 (2), pp. 909-917 (bib)
	T. Wendler, A. Hartl, T. Lasser, J. Traub, F. Daghighian, S. I. Ziegler, N. Navab Towards intra-operative 3D nuclear imaging: reconstruction of 3D radioactive distributions using tracked gamma probes Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October 29 - November 2 2007, LCNS 4792 (2), pp. 252-260 (bib)
	J. Traub, H. Heibel, P. Dressel, S.M. Heining, R. Graumann, N. Navab A Multi-View Opto-Xray Imaging System: Development and First Application in Trauma Surgery Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. (bib)
	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.
	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)
	C. Bichlmeier, M. Rustaee, S.M. Heining, N. Navab Virtually Extended Surgical Drilling Device: Virtual Mirror for Navigated Spine Surgery Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. (bib)
	T. Sielhorst, M. Bauer, O. Wenisch, G. Klinker, N. Navab Online Estimation of the Target Registration Error for n-ocular Optical Tracking Systems to appear Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October 2007, pp. 652-659. (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)
	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)
	S. Wiesner, Z. Yaniv Monitoring Patient Respiration using a Single Optical Camera Annual International Conference of the IEEE EMBS (EMBC 2007), Lyon, France, August 2007 (bib)
	T. Reichl Online Error Correction for the Tracking of Laparoscopic Ultrasound Diploma Thesis. Technische Universität München, July 2007 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Registration-free Laparoscope Superimposition for Intra-Operative Planning of Liver Resection 3rd Russian-Bavarian Conference on Biomedical Engineering, Erlangen, Germany, July 2/3 2007 (bib)
	O. Kutter, S. Kettner, E.U. Braun, N. Navab, R. Lange, R. Bauernschmitt Towards an Integrated Planning and Navigation System for Aortic Stent-Graft Placement Proc. of Computer Assisted Radiology and Surgery (CARS), Berlin, Germany, June 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)
	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)
	T. Klein, S. Benhimane, J. Traub, S.M. Heining, E. Euler, N. Navab Interactive Guidance System for C-arm Repositioning without Radiation Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp. 21-25 (bib)
	O. Kishenkov, T. Wendler, J. Traub, S. I. Ziegler, N. Navab Method for projecting functional 3D information onto anatomic surfaces: Accuracy improvement for navigated 3D beta-probes Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp.66-70 (bib)
	C. Bichlmeier, T. Sielhorst, S.M. Heining, N. Navab Improving Depth Perception in Medical AR: A Virtual Vision Panel to the Inside of the Patient Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007 (bib)
	C. Alcérreca, J. Vogel, M. Feuerstein, N. Navab A New Approach to Ultrasound Guided Radio-Frequency Needle Placement Bildverarbeitung für die Medizin 2007, Munich, Germany, March 2007 (bib)
	N. Navab, M. Feuerstein, C. Bichlmeier Laparoscopic Virtual Mirror - New Interaction Paradigm for Monitor Based Augmented Reality Virtual Reality, Charlotte, North Carolina, USA, March 10-14, 2007 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Registration-Free Laparoscope Augmentation for Intra-Operative Liver Resection Planning SPIE Medical Imaging, San Diego, California, USA, 17-22 February 2007 (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)
	C. Bichlmeier, N. Navab Virtual Window for Improved Depth Perception in Medical AR International Workshop on Augmented Reality environments for Medical Imaging and Computer-aided Surgery (AMI-ARCS 2006), Copenhagen, Denmark, October 2006 (bib)
	C. Bichlmeier, T. Sielhorst, N. Navab The Tangible Virtual Mirror: New Visualization Paradigm for Navigated Surgery International Workshop on Augmented Reality environments for Medical Imaging and Computer-aided Surgery (AMI-ARCS 2006), Copenhagen, Denmark, October 2006 (bib)
	N. Navab, S. Wiesner, S. Benhimane, E. Euler, S.M. Heining Visual Servoing for Intraoperative Positioning and Repositioning of Mobile C-arms Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2006), Copenhagen, Denmark, October 2006 (bib)
	S.M. Heining, P. Stefan, L. Omary, S. Wiesner, T. Sielhorst, N. Navab, F. Sauer, E. Euler, W. Mutschler, J. Traub Evaluation of an in-situ visualization system for navigated trauma surgery Journal of Biomechanics 2006; Vol. 39 Suppl. 1, page 209 (bib)
	S.M. Heining, S. Wiesner, E. Euler, N. Navab CAMC (camera augmented mobile c-arm) - first clinical application in a cadaver study Journal of Biomechanics 2006; Vol. 39 Suppl. 1, page 210 (bib)
	M. Feuerstein, K. Filippatos, O. Kutter, E.U. Schirmbeck, R. Bauernschmitt, N. Navab A Novel Segmentation and Navigation Tool for Endovascular Stenting of Aortic Aneurysms International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 280 - 282. The original publication is available online at www.springerlink.com (bib)
	T. Sielhorst, M. Feuerstein, J. Traub, O. Kutter, N. Navab CAMPAR: A software framework guaranteeing quality for medical augmented reality International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 29 - 30. The original publication is available online at www.springerlink.com (bib)
	S.M. Heining, S. Wiesner, E. Euler, N. Navab Pedicle screw placement under video-augmented fluoroscopic control. First clinical application in a cadaver study International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 189-190. The original publication is available online at www.springerlink.com (bib)
	S.M. Heining, P. Stefan, F. Sauer, E. Euler, N. Navab, J. Traub Evaluation of an in-situ visualization system for navigated trauma surgery Proceedings of The 6th Computer Assisted Orthopaedic Surgery (CAOS 2006), Montreal, Canada, June, 2006 (bib)
	S.M. Heining, S. Wiesner, E. Euler, W. Mutschler, N. Navab Locking of intramedullary nails under video-augmented flouroscopic control: first clinical application in a cadaver study Proceedings of The 6th Computer Assisted Orthopaedic Surgery (CAOS 2006), Montreal, Canada, June, 2006 (bib)
2005
	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 www.springerlink.com (bib)
	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, N. Augustin, S.M. Wildhirt, R. Lange Improvement of Endovascular Stent Grafting by Augmented Reality Biomedizinische Technik (BMT 2005), Volume 50, Supplementary vol. 1, Part 2, pp. 1262 - 1263, Nuremberg, Germany, September 2005 (bib)
2004
	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)
	R. Bauernschmitt, E.U. Schirmbeck, M. Groher, P. Keitler, M. Bauer, H. Najafi, G. Klinker, R. Lange Navigierte Platzierung endovaskulärer Aortenstents Z Kardiologie 2004 93 S3: 116 (bib)

Working Group

Huseyin Coskun

Beatrice Demiray

Javier Esteban

Zhongliang Jiang

Ardit Ramadani

Daniel Roth

Matthias Seibold

Tianyu Song

Maria Victorova

Salvatore Virga

Thomas Wendler

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