Augmentation of Segmented Liver Data onto the Endoscope View

Student: Stefan Wiesner
Advisor: Prof. Feußner
Supervision by: Joerg Traub
Deadline: 15.05.2005 Student Project (Diplomarbeit)

Introduction

One way to treat liver tumors is the laparoscopic surgery. To help the physician finding these tumors on the laparoscopic view, a preoperatively genrerated model of the liver gets fused with the video from the laparoscope. This application is developed to work on a phantom currently developed at MITI.

Tasks

• Calibration: To set the correct camera pose for viewing the model in the application, the laparoscope with an attached target is tracked by a tracking system. The tracking system is capable to recognize the pose of the target. By a suitable calibration method, the transformation between the target and the camera is computed.

• Registration: Once the camera is setup correctly, the pose of the liver model has to be registerd with the one of the real liver. In a first stage this will be done with the matching of corresponding 3D points. Markers, visible in a ct-scan, can be fixed onto the phantoms skin. In a segmentation step the 3D positions of the markers in the ct-scan get extracted. During the treatment of the phantom the markers are detected by the tracking system. With an iterative closest point matching algorithm, both pointsets can be aligned.

• Implementation: The application will be implemented in C++. OpenGL^?, FreeGLUT^?, OpenInventor^? (Coin3D) and XercesC^? will be used as additional libraries to handle the graphical output and xml processing.
  
  

The calibration and registration will be implemented in a library for usage in future projects.

Downloads

• matlabFiles.zip: matlab sources for my idp (ZIP)
• matlabFiles.rar: matlab sources for my idp (RAR)