![Agenda ,[object Object],[object Object],[object Object],[object Object]](data:image/gif;base64,R0lGODlhAQABAIAAAAAAAP///yH5BAEAAAAALAAAAAABAAEAAAIBRAA7)
Recommended
Recommended
More Related Content
What's hot
What's hot (20)
Similar to The NEAR Project: Neuroendoscopy towards Augmented Reality
Similar to The NEAR Project: Neuroendoscopy towards Augmented Reality (20)
Recently uploaded
Recently uploaded (20)
The NEAR Project: Neuroendoscopy towards Augmented Reality
- 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)
- 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. Endoscopic Third Ventriculostomy Ventricular system Base of the third ventricle: fenestration point
- 6. ETV: Surgeon’s view Find 3rd ventricle floor Locate the entrance point Perform the fenestration Check the fenestration
- 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. 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. The NEAR Project
- 11. The NEAR Project NEAR : Neuroendoscopy towards Augmented Reality Goal : build a navigation software with AR support for ETV
- 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. System Setup
- 14. System Overview Calibration Simulation
- 15. Results
- 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.
Editor's Notes
- Dear professors, good morning. My name is Matteo Ciucci. I worked as a PhD student in the medical group of the Karlsruhe Institute of technology at the IPR, the Institute for Process Control and Robotics. The title of this presentation is: Intraoperative Endoscopic AR in 3rd ventriculostomy. This project has been funded under the 6th Framework Programme of the EU in cooperation with the University of KA and the Neurosurgical Departments of HD, Ulm and G ü nzburg.
- Here is the agenda of the presentation. Fisrt I ’m going to give a short medical introduction. Then I’ll give a technological overview by spending a word on th state of the art in surgical navigation an AR. Then I’ll introduce the NEAR Project. As a first highlight of this dissertation, I wil introduce the camera calibration model of Dr. Hoppe and the extension I realized for endoscopic fisheye lenses. As a second highlight of this dissertation, I will present my simulator, its AR and triangulation modules. I will finish with two videos, the project’s conclusions and a short summary.
- Let’s begin with a medical introduction.
- First of all, some keywards. Minimally Invasive Surgery (MIS) compared to open surgery is a key-hole surgery carried out through the skin, a body cavity or an anatomical opening. It uses endoscopic devices and remote-control manipulation of instruments with indirect observation of the surgical field. Neurosurgery is the surgery discipline focused on treating the central nervous system, peripheral nervous systems and spinal column diseases amenable /e’minable/ to surgical intervention. Neuroendoscopy is a neurosurgical MIS technique where an endoscope is inserted into the patient’s brain.
- Endoscopic third ventriculostomy, ETV is a treatment for hydrocephalus affecting adults and children. ETV is performed in the ventricular system of the brain. An endoscope is introduced slowly along a straight trajectory to perform a small perforation in the floor of the third ventricle to bypass an obstruction in the ventricular system and re-establishing the flow of cerebrospinal fluid by relieving its pressure. It must be remembered that ETV is not a cure for hydrocephalus, but rather an alternate treatment.
- Let’s look at what the surgeon sees during the end-phase of the operation: - he/she locates the third ventricle floor, - selects the entrance point, - performs the fenestration and checks the reestablishment of the cerebro-spinal-fluid flow.
- Since this PhD is focused on the technological aspects, I’m going to give now a technological introduction.
- Neurosurgical Navigation is a technology used in the operation room for surgical planning. Surgical navigation allows a precise tumour localization during surgery and it’s like a GPS for the brain. Here are its key elements.
- It consists of a tracking system (here optical), a scope (here an endoscope) and a navigation planning software (here the open source suite 3D Slicer, developed at Boston, MA)
- Now, the project.
- The NEAR Project, which means Neuroendoscopy towards AR, is a subtask of the bigger european COMPU-SURGE project, which aimed at building 4 tandems of surgeons and biomedical engineers to develop sugical tools and navigation instruments. The goal of the NEAR project was to build a navigation and AR equipped software, with ETV as a medical scenario.
- In this slide I describe the medical devices used: An optical tracking system Polaris, with Infra-red passive tracking A Richard Wolf 6 mm endoscope, with 0 degree mounted on a 2MP camera, A surgical phantom for neuroendoscopy, called Lucy, courtesy of Prof. Wirtz and Dr. Paraskevopoulos.
- This slide shows the system setup history. The endoscope was tracked using a rigid body on his top and a calibration chessboard was used to calibrate its camera. From left to right you can see how the setup evolved during the years.
- This is the system overview: left the calibration phase, right the simulation phase.
- Let’s begin with a medical introduction.
- The NEAR project offers a support for AR. In this figure you can see the ventricular structure, together with an image of the tumour, overlaid on an endoscopic image.
- The NEAR project offers also triangulation support. - The endoscope pose is tracked using the tracking system. - Corresponding 2D features are selected and tracked by the Lucas-Tomasi-Kanade optical flow. - Multiple views were used to triangulate the correspondet features.
- Here is an example of a Local Triangulation, peformed with small movements.You can see in the 2 images at top the optical rays used for triangulation and in the images below the 2D features selected and tracked with the LTK optical flow method and in the image on the right the triangulated point cloud.
- Thank you for your attention.