the near project: neuroendoscopy towards augmented reality
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Dr. M. Ciucci 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)
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1. Medical Introduction
2. Technical Introduction
3. Project Setup4. Project Results
Agenda
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Medical Introduction
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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.
Medical Introduction
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.
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Ventricularsystem
Base of the third
ventricle: fenestration
point
Endoscopic Third Ventriculostomy
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Find 3rd ventricle floorLocate the entrance pointPerform the fenestrationCheck the fenestration
ETV: Surgeon’s view
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Technological Introduction
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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
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Surgical Navigation: simplified version
Tracking systemEndoscope
Surgical Navigation
Image from “Three-Dimensional Reconstruction and Surgical Navigation In Pediatric Epilepsy Surgery”, Chabrerie A. et alii, 1998.
Patient rigid body
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The NEAR Project
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The NEAR Project
NEAR: Neuroendoscopy towards Augmented Reality
Goal: build a navigation software with AR support for ETV
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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-mountLucy, neurosurg. Phantom(courtesy of Prof. Dr. C. R. Wirtz and Dr. Paraskevopoulos)
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System Setup
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System Overview
Calibration
Simulation
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Results
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Augmented Reality
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Triangulation
1. Track pose 2. Triangulation2. Track features (LTK optical flow)
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Local Triangulation
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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 Günzburg, 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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