Proceedings of AMI-ARCS 2009 - Department of Computing

129 Pages·2009·21.91 MB·English

Proceedings of
Program Committee
Adrien Bartoli,
LASMEA, Clermont-Ferrand
Dirk Bartz,
University of Leipzig
Marie-Odile Berger,
LORIA
AMI-ARCS Wolfgang Birkfellner,
Medical University Vienna
Gabor Fichtinger,
Queens University, Kingston
Markus Hadwiger,
September 24, 2009 in London VRVis Research Center
Sandro Michael Heining
LMU, München
5th Workshop on Augmented Environments for Medical Imaging Pierre Jannin,
IRISA
including Augmented Reality in Computer-Aided Surgery,
Ron Kikinis,
BWH/Harvard
Gordon Kindlman,
University of Chicago
Mirna Lerotic,
Imperial College, London
Stephane Nicolau,
IRCAD
Nassir Navab,
CAMP, Technische Universität, München
Bernhard Preim,
University of Magdeburg
Felix Ritter,
Fraunhofer MEVIS
/ Jannick Rolland,
9 University of Rochester
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CS Yoshinobu Sato,
R University of Osaka
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MI Anna Vilanova,
Eindhoven University of Technology
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Preface
TheseproceedingscovertheAMI/ARCSone-daysatelliteworkshopofMIC-
CAI 2009. This workshop continues the tradition of Augmented Reality
in Computer Aided Surgery (ARCS) 2003 and the Workshops on Aug-
mented environments for Medical Imaging and Computer-aided Surgery
(AMI-ARCS) 2004, 2006 and 2008. The workshop is a forum for researchers
involvedinallaspectsofaugmentedenvironmentsformedicalimaging. Aug-
mented environments aim to provide the physician with enhanced percep-
tionofthepatienteitherbyfusingvariousimagemodalitiesorbypresenting
medical image data directly on the physicians view, establishing a direct re-
lation between the image and the patient. The workshop was divided into
foursessions-Applications;EfficiencyinARandRegistration;Visualisation
and Ultrasound; and Visualisation and Algorithms.
There were three invited speakers. Professor Henry Fuchs from UNC
Chapel Hill is one of the pioneers of augmented reality research and pro-
vided a highly entertaining look at augmented reality research, both past
and present. Professor Eduard Gr¨oller of the Technical University Vienna
gave a talk on multimodal image fusion for diagnosis of coronary artery dis-
ease. This reflects a growing interest amongst the AMI-ARCS community
in multimodal image fusion, which was specifically highlighted as a theme
this year. Finally, Dr. Hongen Liao of the University of Tokyo described
his significant research experience in augmented reality under the heading
of integral videography.
AverypopularfeatureofAMI-ARCS2009wastheinclusionofademon-
stration session over lunch. This enabled researchers to experience five cut-
ting edge systems first hand. It is hoped that this will be a feature of
future AMI-ARCS workshops. There was industrial involvement from Ini-
tion.co.uk who provided 3D visualisation for the workshop. It is hoped that
this relationship may continue. At the end of the meeting there was a panel
discussion on the future of both AMI-ARCS itself and AR.
AMI/ARCS 2009 brought together clinicians and technical researchers
from industry and academia with interests in computer science, electrical
engineering, physics, and clinical medicine to present state-of-the-art devel-
opments in this ever-growing research area. There is significant ongoing
interest in AMI/ARCS, with a steady number of participants and the con-
tinued high quality of submissions. We are also pleased with the trend in
the research to provide fully functional demonstrations and aiming towards
real clinical applications that will be of benefit to patients.
September 24th 2009 PJ “Eddie” Edwards
Christoph Bichlmeier
Jan Klein
Kensaku Mori
Program Chairs
AMI-ARCS 2009
Program Committee
Adrien Bartoli, LASMEA, Clermont-Ferrand
Dirk Bartz, University of Leipzig
Marie-Odile Berger, LORIA
Wolfgang Birkfellner, Medical University Vienna
Gabor Fichtinger, Queens University, Kingston
Markus Hadwiger, VRVis Research Center
Sandro-Michael Heining, LMU, Mu¨nchen
Pierre Jannin, IRISA
Ron Kikinis, BWH/Harvard
Gordon Kindlman, University of Chicago
Mirna Lerotic, Imperial College, London
Stephane Nicolau, IRCAD
Nassir Navab,CAMP, Technische Universitt, Mu¨nchen
Bernhard Preim, University of Magdeburg
Felix Ritter, Fraunhofer MEVIS
Jannick Rolland, University of Rochester
Yoshinobu Sato, University of Osaka
Anna Vilanova, Eindhoven University of Technology
Kirby Vosburgh,CIMIT
Sponsoring Institutions
Imperial College, London, UK
TUM, Germany
Fraunhofer MEVIS, Bremen, Germany
Nagoya University, Japan
Inition.co.uk London, UK
Table of Contents
Session 1 – Applications 1
AR-Assisted navigation: applications in anesthesia and cardiac
interventions. John Moore, Cristian A. Linte, Chris Wedlake and
Terry M. Peters 2
Development of Endoscopic Robot System with Augmented
Reality Functions for NOTES that Enables Activation of
FourRoboticForceps. NaokiSuzuki, AsakiHattori, KazuoTanoue,
SatoshiIeiri, KozoKonishi, HajimeKenmotsuandMakotoHashizume 12
A Practical Approach for Intraoperative Contextual In-Situ
Visualization. Christoph Bichlmeier, Maksym Kipot, Stuart Hold-
stock, Sandro-Michael Heining, Ekkehard Euler and Nassir Navab 19
Session 2 – Efficiency in AR and Registration 27
Interactive 3D auto-stereoscopic image guided surgical naviga-
tion system with GPU accelerated high-speed processing.
Huy Hoang Tran, Hiromasa Yamasita, Ken Masamune, Takeyoshi
Dohi and Hongen Liao 28
Fast non-rigid registration of medical image data for image
guided surgery. S.K. Shah, R.S. Rowland, and R.J. Lapeer 36
Statistical deformation model driven atlas registration with
stochastic sub-sampling. Wenzhe Shi, Lin Mei, Daniel Ru¨ckert
and P.J. “Eddie” Edwards 44
5
Session 3 – Visualisation and Ultrasound 52
Intraoperative ultrasound probe calibration in a sterile envi-
ronment. Ramtin Shams, Rau´l San Jose Estepar, Vaibhav Patil,
Kirby G. Vosburgh 53
RealtimeIntegralVideographyAuto-stereoscopicSurgeryNav-
igation System using Intra-operative 3D Ultrasound: Sys-
tem Design and In-vivo Feasibility Study. Nicholas Herlam-
bang, HiromasaYamashita, HongenLiao, KenMasamuneandTakeyoshi
Dohi 61
A Movable Tomographic Display for 3D Medical Images. Gau-
ravShukla, BoWang, JohnGaleotti, RobertaKlatzky, BingWu, Bert
Unger, Damion Shelton, Brian Chapman and George Stetten 69
Session 4 – Visualisation and Algorithms 77
Patient-specificTextureBlendingonSurfacesofArbitraryTopol-
ogy. Johannes Totz, Adrian J. Chung and Guang-Zhong Yang 78
Improving Tracking Accuracy Using Neural Networks in Aug-
mented Reality Environments. Arun Kumar Raj Voruganti,
Oliver Burgert and Dirk Bartz 86
UsingPhoto-consistencyforIntra-operativeRegistrationinAug-
mentedRealitybasedSurgicalNavigation. G.Gonzalez-Garcia
and Rudy Lapeer 94
EKF Monocular SLAM 3D Modeling, Measuring and Aug-
mented Reality from Endoscope Image Sequences. Oscar
G. Grasa, J. Civera, A. Gu¨emes, V. Mun˜oz, and J.M.M. Montiel 102
Demonstration Session – Summaries 110
Medical Contextual In-Situ Visualization. Christoph Bichlmeier,
Maksym Kipot, Stuart Holdstock, Sandro-Michael Heining, Ekkehard
Euler and Nassir Navab 111
Medical Augmented Reality using Autostereoscopic Image for
Minimally Invasive Surgery. Hongen Liao 113
Miniaturised Augmented Reality System (MARS). PJ “Eddie”
Edwards, AakifTanveer, TimCarter, DeanBarrattandDaveHawkes115
ARView - Augmented Reality based Surgical Navigation sys-
tem software for minimally invasive surgery. Rudy Lapeer and
G. Gonzalez-Garcia 117
PerkStation-PercutaneousSurgeryTrainingandPerformance
Measurement Platform. Paweena U-Thainual, Siddharth Vikal,
JohnA.Carrino, IulianIordachita, GregoryS.Fischer, GaborFichtinger119
Author Index 121
Session 1 – Applications
1
Overview of AR-Assisted Navigation:
Applications in Anesthesia and Cardiac Therapy
John Moore1, Cristian A. Linte1,2, Chris Wedlake1, and Terry M. Peters1,2
Imaging Research Laboratories, Robarts Research Institute,
Biomedical Engineering Graduate Program, University of Western Ontario,
London ON Canada
{jmoore,tpeters}@imaging.robarts.ca
Abstract. Theglobalfocusonminimizinginvasivenessassociatedwith
conventionaltreatmenthasinevitablyledtorestrictedaccesstothetar-
get tissues. Complex procedures that previously allowed surgeons to di-
rectlyseeandaccesstargetswithinthehumanbodymustnowbe“seen”
and“reached”viamedicalimagingandspeciallydesignedtools,respec-
tively. A successful transition to less invasive therapy is subject to the
ability to provide physicians with sufficient navigation information that
allows them to maintain therapy efficacy despite “synthetic” visualiza-
tionandtargetmanipulation.Herewedescribeacomprehensivesystem
currentlyunderdevelopmentthatintegratestheprinciplesofaugmented
reality-assisted navigation into clinical practice. To illustrate its direct
benefits in the clinic, we describe the implementation of the system for
an anesthetic delivery application, as well as for intracardiac therapy.
1 Introduction
Inmanyengineeringapplications,computergenerateddisplaysareusedtomodel
mechanical designs, simulate interaction between different components, and vir-
tually analyze a system’s behaviour prior to its implementation; however, these
modelsarerarelycarriedfurtherintothephysicalimplementationofthesystem.
Similarly, in the medical world, pre-operative information is acquired in order
to diagnose a patient’s condition, but it is often limited to the treatment plan
rather than being integrated into the therapy delivery stage. Augmented reality
(AR)technologypermitsthesupplyofadditionalinformationtothevisualfield
of a user in order to facilitate, or in some cases enable task performance [1].
Using such environments, pre-operative anatomical models featuring the entire
treatment plan can be “brought in” during therapy, facilitating treatment or
providing physicians with otherwise unavailable information.
Here we build upon the typical AR concepts towards more complex environ-
ments.Asopposedtousingadirectviewoftheanatomyas“reality”,weemploy
ultrasound (US) imaging to obtain a real-time anatomical display, and further
augment the echo images with pre-operative anatomical information and repre-
sentations of surgical tools. The generated environment not only complements
2
the real-time US display with pre-operatively planned information, but also al-
lowsthephysiciantoimmersehim/herselfwithina“mixedreality”environment
accurately registered to the patient.
Wehavedemonstratedtheimplementationofthistechnologyforintracardiac
guidance[2],andhavealreadyidentifiedthepotentialthatsuchAR-assistedUS
guidance environments may eliminate the need for intra-operative fluoroscopic
imaging and allow the fusion of surgical planning and guidance [3,4]. In this
paper we review the components of the AR-assisted platform and, in addition
to the cardiac application, we also present its implementation for an anesthetic
delivery application: facet joint injections and peripheral nerve block.
2 Surgical Platform Architecture And Applications
Oursurgicalguidanceplatform(AtamaiViewer-http://www.atamai.com)com-
prises a user interface based on Python and the Visualization Toolkit (VTK)
and integrates a wide variety components for IGS applications, including multi-
modalityimagevisualization,anatomicalmodeling,surgicaltracking,andhaptic
control. The environment supports stereoscopic visualization of volumetric data
via cine sequences synchronized with the intra-operative ECG [5], as well as
fusion of multiple components with different translucency levels for overlays.
Theoriginsofouraugmentedrealitysurgicalplatformarisefromthedesireof
oursurgerycolleaguestodevelopaprocedurethatenablestherapydeliveryinside
the beating heart. Not only does this attempt require a means of introducing
multiple tools into the cardiac chambers, but also the ability to visualize and
manipulate these devices in real time. Consequently, we adapted these original
techniquesforotherapplications,includingelectro-physiologymappingforatrial
fibrillation therapy [3] and an AR system for port placement [6].
2.1 Surgical Guidance: Intracardiac Therapy Delivery
OurfirstandmostchallengingAR-assistedapplicationistheplanningandguid-
ance of minimally invasive, off-pump mitral valve (MV) implantation and atrial
septal defect (ASD) repair. Given the lack of visualization during off-pump
surgery, we used this platform to build an AR environment to provide surgeons
with a virtual display of the surgical field that resembles the real intracardiac
environment to which they do not have direct visual access.
We proposed an intracardiac visualization approach that relied on intra-
operative echocardiography for real-time imaging, augmented with representa-
tions of the surgical tools tracked in real-time and displayed within anatomical
context available from pre-operative images. By carefully integrating all compo-
nents, such an environment is capable of expected to provide reliable tool-to-
target navigation, followed by accurate on-target positioning.
Using Imaging to “See” Ultrasound is widely employed as a standard inter-
ventional imaging modality and 2D TEE (trans-esophageal echocardiography)
3