Joerg Traub
Technische Universität München
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Publication
Featured researches published by Joerg Traub.
IEEE Transactions on Medical Imaging | 2010
Nassir Navab; Sandro Michael Heining; Joerg Traub
Mobile C-arm is an essential tool in everyday trauma and orthopedics surgery. Minimally invasive solutions, based on X-ray imaging and coregistered external navigation created a lot of interest within the surgical community and started to replace the traditional open surgery for many procedures. These solutions usually increase the accuracy and reduce the trauma. In general, they introduce new hardware into the OR and add the line of sight constraints imposed by optical tracking systems. They thus impose radical changes to the surgical setup and overall procedure. We augment a commonly used mobile C-arm with a standard video camera and a double mirror system allowing real-time fusion of optical and X-ray images. The video camera is mounted such that its optical center virtually coincides with the C-arms X-ray source. After a one-time calibration routine, the acquired X-ray and optical images are coregistered. This paper describes the design of such a system, quantifies its technical accuracy, and provides a qualitative proof of its efficiency through cadaver studies conducted by trauma surgeons. In particular, it studies the relevance of this system for surgical navigation within pedicle screw placement, vertebroplasty, and intramedullary nail locking procedures. The image overlay provides an intuitive interface for surgical guidance with an accuracy of <;1 mm, ideally with the use of only one single X-ray image. The new system is smoothly integrated into the clinical application with no additional hardware especially for down-the-beam instrument guidance based on the anteroposterior oblique view, where the instrument axis is aligned with the X-ray source. Throughout all experiments, the camera augmented mobile C-arm system proved to be an intuitive and robust guidance solution for selected clinical routines.
IEEE Transactions on Medical Imaging | 2009
Marco Feuerstein; Tobias Reichl; Jakob Vogel; Joerg Traub; Nassir Navab
Electromagnetic tracking is currently one of the most promising means of localizing flexible endoscopic instruments such as flexible laparoscopic ultrasound transducers. However, electromagnetic tracking is also susceptible to interference from ferromagnetic material, which distorts the magnetic field and leads to tracking errors. This paper presents new methods for real-time online detection and reduction of dynamic electromagnetic tracking errors when localizing a flexible laparoscopic ultrasound transducer. We use a hybrid tracking setup to combine optical tracking of the transducer shaft and electromagnetic tracking of the flexible transducer tip. A novel approach of modeling the poses of the transducer tip in relation to the transducer shaft allows us to reliably detect and significantly reduce electromagnetic tracking errors. For detecting errors of more than 5 mm, we achieved a sensitivity and specificity of 91% and 93%, respectively. Initial 3-D rms error of 6.91 mm were reduced to 3.15 mm.
Medical Image Analysis | 2010
Lejing Wang; Joerg Traub; Simon Weidert; Sandro Michael Heining; Ekkehard Euler; Nassir Navab
We present a novel method to generate parallax-free panoramic X-ray images during surgery by enabling the mobile C-arm to rotate around its X-ray source center, relative to the patients table. Rotating the mobile C-arm around its X-ray source center is impractical and sometimes impossible due to the mechanical design of mobile C-arm systems. In order to ensure that the C-arm motion is a relative pure rotation around its X-ray source center, we propose to move the table to compensate for the translational part of the motion based on C-arm pose estimation. For this we employ a visual marker pattern and a Camera Augmented Mobile C-arm system that is a standard mobile C-arm augmented by a video camera and mirror construction. We are able to produce a parallax-free panoramic X-ray image independent of the geometric configuration of imaged anatomical structures. Our method does not require a fronto-parallel setup or any overlap between the acquired X-ray images. This generated parallax-free panoramic X-ray image preserves the linear perspective projection property. It also presents a negligible difference (below 2 pixels) in the overlapping area between two consecutive individual X-ray images and has a high visual quality. This promises suitability for intra-operative clinical applications in orthopedic and trauma surgery. The experiments on phantoms and ex-vivo bone structure demonstrate both the functionality and accuracy of the method.
International Congress Series | 2005
B. Olbrich; Joerg Traub; Stefan Wiesner; Andreas Wichert; Hubertus Feussner; Nassir Navab
Abstract Laparoscopic surgery had a rapid development over the past decade. However, the view of the surgeon is limited to the image of the laparoscope. Augmented reality can provide further information to the surgeon by enabling a view inside the patient, and thus supporting a more precise and less invasive procedure. The limiting factors for realistic augmentation during liver surgery are movement and deformation of the organ due to respiratory motion. In our experiments we analyzed respiratory motion patterns of the liver caused by the respirator. Throughout our experiments we validated our assumption that repositioning after one breathing cycle is within a range of 1 mm. For an optimal augmentation of the liver in the laparoscopic image we suggest to adjust the respirator thus that we have a static exhalation phase of 2 to 3 s on which our augmentation is performed.
Case Reports in Oncology | 2011
Andreas Rieger; J. Saeckl; B. Belloni; R. Hein; Asli Okur; Klemens Scheidhauer; Thomas Wendler; Joerg Traub; Helmut Friess; Marc E. Martignoni
Background: Sentinel lymph node biopsy (SLNB) in melanoma using one-dimensional gamma probes is a standard of care worldwide. Reports on the performance are claimed by most groups to successfully detect the SLNs during the surgical procedure in almost 100% of the patients. In clinical practice, however, several issues remain which are usually not addressed: the difficulty of intraoperative detection of deeply located nodes, SLN detection in obese patients or in the groin and the impossibility to make a scan of the entire wound after SLN resection to avoid false negative testing for eventually remaining SLNs. Materials and Methods: The concept behind freehand SPECT is to combine a gamma probe as used for conventional radio-guided surgery with a tracking system as used in neurosurgical navigation. From this combination and a proper algorithm framework the 3D reconstruction of radioactivity distributions and displaying these intraoperatively is possible. Conclusion: In summary, the feasibility of freehand SPECT could be shown and provides an image-guided SLNB and a truly minimally invasive and optimized surgical procedure.
IEEE\/OSA Journal of Display Technology | 2008
Joerg Traub; Tobias Sielhorst; Sandro Michael Heining; Nassir Navab
Thanks to its rapid development in the last decades, image guided surgery (IGS) has been introduced successfully in many modern operating rooms. Current IGS systems provide their navigation information on a standard computer monitor. Alternatively, one could enhance the direct sight of the physician by an overlay of the virtual data onto the real patient view. Such in situ visualization methods have been proposed in the literature for providing a more intuitive visualization, improving the ergonomics as well as the hand-eye coordination. In this paper, we first discuss the fundamental issues and the recent endeavors in advanced display and visualization for IGS. We then present some of our recent work comparing two navigation systems: 1) a classical monitor based navigation and 2) a new navigation system we had developed based on in situ visualization. As both solutions reveal shortcomings as well as complementary advantages, we introduce a new solution that combines both concepts into one hybrid user interface. Finally, experimental results report on the performance of several surgeons using an external monitor as well as a stereo video see-through head-mounted display (HMD). The experiments consist of drilling into a phantom in order to reach planted deep-seated targets only visible in computed tomography (CT) data. We evaluate several visualization techniques, including the new hybrid solution, and study their influence on the performance of the participant surgeons.
medical image computing and computer assisted intervention | 2006
Thomas Wendler; Joerg Traub; Sibylle Ziegler; Nassir Navab
In minimally invasive tumor resection, the desirable goal is to perform a minimal but complete removal of cancerous cells. In the last decades interventional nuclear medicine probes supported the detection of remaining tumor cells. However, scanning the patient with an intraoperative probe and applying the treatment are not done simultaneously. The main contribution of this work is to extend the one dimensional signal of a beta-probe to a four dimensional signal including the spatial information of the distal end of the probe. We generate a color encoded surface map of the scanned activity and guide any tracked surgical instrument back to the regions with measured activity. For navigation, we implement an augmented reality visualization that superimposes the acquired surface on a visual image of the real anatomy. Alternatively, a simulated beta-probe count rate in the tip of a tracked therapeutic instrument is simulated showing the count number and coding it as an acoustic signal. Preliminary tests were performed showing the feasibility of the new designed system and the viability of such a three dimensional intraoperative molecular imaging modality.
medical image computing and computer assisted intervention | 2007
Tassilo Klein; Joerg Traub; Hubert Hautmann; Alireza Ahmadian; Nassir Navab
Navigated bronchoscopy has been developed by various groups within the last decades. Systems based on CT data and electromagnetic tracking enable the visualization of the position and orientation of the bronchoscope, forceps, and biopsy tools within CT data. Therefore registration between the tracking space and the CT volume is required. Standard procedures are based on point-based registration methods that require selecting corresponding natural landmarks in both coordinate systems by the examiner. We developed a novel algorithm for a fully automatic registration procedure in navigated bronchoscopy based on the trajectory recorded during routine examination of the airways at the beginning of an intervention. The proposed system provides advantages in terms of an unchanged medical workflow and high accuracy. We compared the novel method with point-based and ICP-based registration. Experiments demonstrate that the novel method transforms up to 97% of tracking points inside the segmented airways, which was the best performance compared to the other methods.
Surgical Endoscopy and Other Interventional Techniques | 2007
Robert Bauernschmitt; Marco Feuerstein; Joerg Traub; Eva U. Schirmbeck; Gudrun Klinker; Ruediger Lange
BackgroundOptimal port placement and enhanced guidance in robotically assisted cardiac surgery is required to improve preoperative planning and intraoperative navigation.MethodsOffline optimal port placement is planned on a three-dimensional virtual reconstruction of the patient’s computed tomography scan. Using this data, an accurate in vivo port placement can be performed, which is achieved by augmented reality techniques superimposing virtual models of the thorax and the teleoperator arms on top of the real worldview.ResultsA new system incorporating both port placement planning and intraoperative navigation in robotically assisted minimally invasive heart surgery was established to aid the operative workflow. A significant reduction of operation time by improved planning and intraoperative support is anticipated.ConclusionsThe enhanced intraoperative orientation possibilities may lead to further decrease in operation time and have the continuing ability to improve quality.
medical image computing and computer assisted intervention | 2006
Joerg Traub; Philipp Stefan; Sandro Michael Heining; Tobias Sielhorst; Christian Riquarts; Ekkehard Euler; Nassir Navab
Several visualization methods for intraoperative navigation systems were proposed in the past. In standard slice based navigation, three dimensional imaging data is visualized on a two dimensional user interface in the surgery room. Another technology is the in-situ visualization i.e. the superimposition of imaging data directly into the view of the surgeon, spatially registered with the patient. Thus, the three dimensional information is represented on a three dimensional interface. We created a hybrid navigation interface combining an augmented reality visualization system, which is based on a stereoscopic head mounted display, with a standard two dimensional navigation interface. Using an experimental setup, trauma surgeons performed a drilling task using the standard slice based navigation system, different visualization modes of an augmented reality system, and the combination of both. The integration of a standard slice based navigation interface into an augmented reality visualization overcomes the shortcomings of both systems.