Master Thesis: Hybrid Tracking for Intra-Operative Imaging: Fusion of optical, magnetic, robotic and radioactive tracking techniques

Supervision: Bernhard Fuerst, Amit Shah and Nassir Navab

Introduction

The EndoTOFPET^?-US project aims at drastically improving intraoperative PET performance and combining the benefits of PET and ultrasound imaging during image guided interventions. US transmitter and PET crystal are both built into the tip of a flexible endoscope. A second PET sensor is placed outside of the body to detect simultaneous photon emissions. To improve the performance, time-of-flight measurements of photons are performed. For the reconstruction of the image it is critical that the precise position of the endoscope tip is known inside the patients body. The position is also necessary to perform a reliable visualization of the acquired images. Hybrid-tracking solutions are to be researched and used to address the problem.

Goals

First, the student has to implement and test the quality of an electromagnetic and optical fused tracking solution. EMT sensors are attached to the tip and the optical targets to the handle of the provided device. Second, the ability of locating small radioactive spheres needs to be shown by developing such a tracking system. After the successful tracking of the radioactive markers, the third part of the work with comprises by fusing the electromagnetic, optical, robotic and radioactive tracking systems.

Proposed methods

The student performs algorithm development and testing mainly in Matlab. An existing workplace is provided for taking measurements with optical and EM trackers. Radioactivity experiments will take place in a shielded laboratory at Klinikum Rechts der Isar, Munich. Gamma cameras as well as other tracking equipment and a robotic actuator are provided by CAMP. Fusion and real-time tracking algorithms will be implemented in C++. The scheduled time for the thesis is 6 months. After 6 weeks the student has to give a kick-off presentation. At the end of the thesis a final presentation will be held.