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Intraoperative Endoscopic Augmented Reality in Third

Ventriculostomy

Meeting 10.03.2010

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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.