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Intraoperative Endoscopic Augmented Reality in Third Ventriculostomy  Meeting 10.03.2010 Dr. M. Ciucci Institute for Proce...
Agenda <ul><li>Medical Introduction </li></ul><ul><li>Technical Introduction </li></ul><ul><li>Project Setup </li></ul><ul...
Medical Introduction
Medical Introduction Minimally Invasive Surgery : key-hole surgery carried out through a cavity or an anatomical opening w...
Endoscopic Third Ventriculostomy Ventricular system Base of the third ventricle: fenestration point
ETV: Surgeon’s view Find 3rd ventricle floor Locate the entrance point Perform the fenestration Check the fenestration
Technological Introduction
The operation room:  surgical navigation Source: Biomedical Optics & Medical Imaging  An open source software toolkit for ...
Surgical Navigation: simplified version Tracking system Endoscope Surgical Navigation   Image from “ Three-Dimensional Rec...
The NEAR Project
The NEAR Project NEAR : Neuroendoscopy towards Augmented Reality Goal : build a navigation software with AR support for ETV
Material and Methods Optical Tracking system Endoscope and camera Image Source: “ Three-Dimensional Reconstruction and Sur...
System Setup
System Overview Calibration Simulation
Results
Augmented Reality
Triangulation <ul><li>Track pose </li></ul>2. Triangulation 2. Track features  (LTK optical flow)
Local Triangulation
NEAR Thank you for your attention. Acknoledgements : Prof. H. Woern, Dr. J. Raczkowsky, University of Karlsruhe (TH), Germ...
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The NEAR Project: Neuroendoscopy towards Augmented Reality

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Neuroendoscopy towards Augmented Reality: the project aims at endowing a standard endoscope and tracking system for neuroendoscopy operations with a surgical navigation software with augmented reality and triangulation capabilities

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The NEAR Project: Neuroendoscopy towards Augmented Reality

  1. 1. Intraoperative Endoscopic Augmented Reality in Third Ventriculostomy Meeting 10.03.2010 Dr. M. Ciucci Institute for Process Control and Robotics (IPR) Karlsruhe Institute of Technology (KIT)
  2. 2. Agenda <ul><li>Medical Introduction </li></ul><ul><li>Technical Introduction </li></ul><ul><li>Project Setup </li></ul><ul><li>Project Results </li></ul>
  3. 3. Medical Introduction
  4. 4. Medical Introduction Minimally Invasive Surgery : key-hole surgery carried out through a cavity or an anatomical opening which uses endoscopic devices with indirect observation of the surgical field. Neurosurgery : surgery discipline focused on the central nervous system, peripheral nervous systems and spinal column. Neuroendoscopy: neurosurgical MIS technique where an endoscope is inserted into the patient’s brain.
  5. 5. Endoscopic Third Ventriculostomy Ventricular system Base of the third ventricle: fenestration point
  6. 6. ETV: Surgeon’s view Find 3rd ventricle floor Locate the entrance point Perform the fenestration Check the fenestration
  7. 7. Technological Introduction
  8. 8. The operation room: surgical navigation Source: Biomedical Optics & Medical Imaging An open source software toolkit for image-guided surgery Kevin Cleary, Luis Ibanez, David Gobbi, and Kevin Gary
  9. 9. Surgical Navigation: simplified version Tracking system Endoscope Surgical Navigation Image from “ Three-Dimensional Reconstruction and Surgical Navigation In Pediatric Epilepsy Surgery” , Chabrerie A. et alii, 1998. Patient rigid body
  10. 10. The NEAR Project
  11. 11. The NEAR Project NEAR : Neuroendoscopy towards Augmented Reality Goal : build a navigation software with AR support for ETV
  12. 12. Material and Methods Optical Tracking system Endoscope and camera Image Source: “ Three-Dimensional Reconstruction and Surgical Navigation In Pediatric Epilepsy Surgery” , Chabrerie A. et al., 1998. Surgical phantom NDI Polaris, IR passive tools, 60 Hz 0.35 mm R. Wolf single port endoscope, 6 mm, 0 ° Sumix M72 2M 48fps + C-mount Lucy, neurosurg. Phantom (courtesy of Prof. Dr. C. R. Wirtz and Dr. Paraskevopoulos)
  13. 13. System Setup
  14. 14. System Overview Calibration Simulation
  15. 15. Results
  16. 16. Augmented Reality
  17. 17. Triangulation <ul><li>Track pose </li></ul>2. Triangulation 2. Track features (LTK optical flow)
  18. 18. Local Triangulation
  19. 19. NEAR Thank you for your attention. Acknoledgements : Prof. H. Woern, Dr. J. Raczkowsky, University of Karlsruhe (TH), Germany; Prof. C. R. Wirtz and Prof. M.-E. Halatsch, Neurosurgical Dept. of Ulm and G ü nzburg, Germany; the EU for the Marie Curie FP6; the R. Wolf Company for the endoscopes; the SPL of Boston for the image of 3D Slicer and the model of the brain ventricles.

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