Surgiality - Otto von Guericke University Magdeburgnuernb/slides/SWSS01/surgiality.pdf · Surgiality Andreas Nürnberger, University of California, Berkeley, USA Email: [email protected]

Status 12.06.2001 © IULIULIULIUL Softwarehouse AG all rights reserved Page 1

SurgialitySurgialitySurgialitySurgialitySurgialitySurgialitySurgialitySurgialityAndreas Nürnberger, University of California, Berkeley, USA

Email: [email protected]

Arne Radetzky, IUL Softwarehouse AG, Holzkirchen, GermanyEmail: [email protected]

The combination of „surgical“ and „virtuality“ means thecreation of artificial worlds in the computer for training

and planning of surgical interventions.

http://www.surgiality.com/


EC-project ROBOSCOPEUltrasound-Image-Guided Manipulator-Assisted System for

Minimally Invasive Endo-Neurosurgery

ECEC--projectproject ROBOSCOPEROBOSCOPEUltrasoundUltrasound--ImageImage--GuidedGuided ManipulatorManipulator--AssistedAssisted SystemSystem forfor

MinimallyMinimally IInvasivenvasive EEndondo--NeurosurgeryNeurosurgery

Development of an experimental prototype operating equipment forminimally invasive neurosurgical procedures:

Main requirements:

• Safety

• Lowest possible cost of components

Development and integration of a neuronavigation system including

• Intraoperative real-time 3D ultrasound imaging

• Robotic manipulator arm

• Simulation system


EC-project ROBOSCOPE(Ultrasound-Image-Guided Manipulator-Assisted System for

Minimally Invasive Endo-Neurosurgery)

ECEC--projectproject ROBOSCOPEROBOSCOPE((UltrasoundUltrasound--ImageImage--GuidedGuided ManipulatorManipulator--AssistedAssisted SystemSystem forfor

MinimallyMinimally IInvasivenvasive EEndondo--NeurosurgeryNeurosurgery))


MR – US Coregistration(INRIA, Sophia Antipolis, F)

EC-project ROBOSCOPEECEC--projectproject ROBOSCOPEROBOSCOPE

Guided Active Manipulator(Fokker Control Systems, Schiphol, NL)

Planning and Simulation System(TU Braunschweig, Imperial College, ISM)

Intraoperative 3D-Ultrasound(Kretz, Austria)


DDefinitionefinition ofof thethe EEntryntry andand TTargetarget PPointoint

Planning and Simulation ToolPlanningPlanning and Simulation Tooland Simulation Tool


CChecking thehecking the TTrajectoryrajectory andand VVirtualirtual CCraniotomyraniotomy(size and depth of trepanation can be planned and checked)(size and depth of trepanation can be planned and checked)



DDefinitionefinition of „of „AActivective CConstraintsonstraints““(automatic adaptation during surgery(automatic adaptation during surgery –– brain shift; INRIA Algorithms)brain shift; INRIA Algorithms)



Using actual Using actual patientpatient‘s ‘s datasetsdatasets

Load DialogLoadLoad DialogDialog

((angiogramsangiograms,, fMRIfMRI –– functional magnet resonancefunctional magnet resonance tomographytomography))


Load DialogLoadLoad DialogDialog

(vessels and functional areas can be visualized)(vessels and functional areas can be visualized)


Radetzky, A., Nürnberger, A.

The Simulation of ElasticTissues in Virtual MedicineUsing Neuro-Fuzzy Systems,

Kim Y, Mun SK (Eds.), In: MedicalImaging 1998: Image Display.Proc. of SPIE Vol. 3335, SanDiego, 1998, 399-409

Simulation of DeformationsSimulation ofSimulation of DeformationsDeformations


Simulation of DeformationsSimulation ofSimulation of DeformationsDeformations

springforces

externalforces

accele-ration velocity position

velocityoutput

mass node module

positionoutput

vr

pr

Fr

∑=i

iFm

arr 1

Fr

∫= avrr

∫= vprr

spring forceoutput

force

nodepositions

visoelastic nodemodule

1pr

Fr

),( dsspring fffF =r

2pr

nodevelocities

1vr

2vr

positionforce

velocityforce),( 21 ppfs

rr),( 21 vvfd

rr

ai vi pi

fj

sj

dj ak vk pk

+1

-1


Simulation of Deformations (Initialization)Simulation ofSimulation of DeformationsDeformations (Initialization)(Initialization)

fuzzysystem

objectcharacteristics

(defined bylinguistic terms)

parametersphysical

recurrentneural

network


Simulation of Deformations (Initialization)Simulation ofSimulation of DeformationsDeformations (Initialization)(Initialization)

1. ObjectWindow

2. Object Data

3. RegionSelector

4. Rule Editor

5. Fuzzy SetEditor

6. ParameterDefinition


vesselsvessels < 100 µm< 100 µm areare visiblevisible

(arbitrary texture placement,(arbitrary texture placement,LeebLeeb,, RadetzkyRadetzky andand AuerAuer,,IEEE Virtual Reality 2001)IEEE Virtual Reality 2001)

Simulation: Texture Mapping and ResolutionSimulation:Simulation: Texture MappingTexture Mapping and Resolutionand Resolution

endoscopicendoscopic imageimage

simulationsimulation


NEUROBOT (Fokker Control Systems)

Interfaces - InstrumentsInterfacesInterfaces -- InstrumentsInstruments

• active manipulator(low force input)

• 4 degrees offreedom fixed atpivot point

• force sensor(attachment of astandard endoscopepossible)

• tracking resolutionless than 0.1mm



Endoscope mounted on a

Laparoscopic Impulse Engine

(Immersion)



Traker for freehand

input (Polhemus)


Hand SurgeryHand Surgery (carpal tunnel syndrome)(carpal tunnel syndrome)

GynaecologyGynaecology (sterilization)(sterilization)

Other PrototypesOther PrototypesOther Prototypes

Partner:

• Institute for Medical Informatics,Technical University of Braunschweig, Germany

• Department of Computer Science, IWS,University of Magdeburg, Germany


GynaecologyGynaecologyGynaecology





Real Sterilization byCoagulation

Virtual Sterilization

Prof. GrospietschStädtisches KlinikumBraunschweig, Gynaecology

uterus uterusileum ileum

tuba uterinatuba uterina


•• Surgical planning, virtualSurgical planning, virtual endoscopyendoscopy andandsimulation by using actual patient’s datasetssimulation by using actual patient’s datasets

•• Simulation by using indirect volume renderingSimulation by using indirect volume rendering(actual patient’s datasets)(actual patient’s datasets)

•• Three prototypes: implemented on a SGI Onyx2Three prototypes: implemented on a SGI Onyx2IR (2 CPU)IR (2 CPU)

•• Planned rePlanned re--implementation of the prototypes onimplementation of the prototypes ona standard PC platforma standard PC platform

•• First systems on the market within the next yearFirst systems on the market within the next year

SummarySummarySummary

Documents

Surgiality - Otto von Guericke University Magdeburgnuernb/slides/SWSS01/surgiality.pdf · Surgiality Andreas Nürnberger, University of California, Berkeley, USA Email: [email protected]