Sven Haase

• Doctor of Engineering
• Friedrich-Alexander-University Erlangen-Nürnberg

This chapter points out the key aspects of minimally invasive surgery with particular focus on abdominal surgery using endoscopes. The comparison between minimally invasive and conventional open surgery is illustrated and several procedures are detailed. Moreover, this chapter introduces the term Image Guidance and its benefits.

Objective. To demonstrate a novel approach of compensating overexposure artifacts in CT scans of the knees without attaching any supporting appliances to the patient. C-Arm CT systems offer the opportunity to perform weight-bearing knee scans on standing patients to diagnose diseases like osteoarthritis. However, one serious issue is overexposure o...

In this paper, we propose a multi-sensor super-resolution framework for hybrid imaging to super-resolve data from one modality by taking advantage of additional guidance images of a complementary modality. This concept is applied to hybrid 3-D range imaging in image-guided surgery, where high-quality photometric data is exploited to enhance range i...

Intra-operative imaging techniques for obtaining the shape and morphology of soft-tissue surfaces in vivo are a key enabling technology for advanced surgical systems. Different optical techniques for 3-D surface reconstruction in laparoscopy have been proposed, however, so far no quantitative and comparative validation has been performed. Furthermo...

In this paper, we augment multi-frame super-resolution with the concept of guided filtering for simultaneous upsampling of 3-D range data and complementary photometric information in hybrid range imag-ing. Our guided super-resolution algorithm is formulated as joint max-imum a-posteriori estimation to reconstruct high-resolution range and photometr...

In this paper, we augment multi-frame super-resolution with the concept of guided filtering for simultaneous upsampling of 3-D range data and complementary photometric information in hybrid range imaging. Our guided super-resolution algorithm is formulated as joint maximum a-posteriori estimation to reconstruct high-resolution range and photometric...

Purpose: During autopsy, forensic pathologists today mostly rely on visible indication, tactile perception and experience to determine the cause of death. Although computed tomography (CT) data is often available for the bodies under examination, these data are rarely used due to the lack of radiological workstations in the pathological suite. The...

In minimally invasive surgery, hybrid 3-D endoscopy is an evolving field of research that aims to augment conventional video based systems by metric 3-D measurements. One crucial issue with these systems arises from specular reflections that result in overexposed RGB values and invalid range measurements. In this paper, we address this problem by r...

In hybrid 3D endoscopy, range data is used to augment photometric information for minimally invasive surgery. As range sensors suffer from a rough spatial resolution and a low signal-to-noise ratio, subpixel motion between multiple range images is used as a cue for superresolution to obtain reliable range data. Unfortunately, this method is sensiti...

Time-of-Flight (ToF) cameras are a novel and fast developing technology for acquiring 3D surfaces. In recent years they have gathered interest from many fields including 3D endoscopy. However, preprossessing of the obtained images is absolutely mandatory due to the low signal-to-noise ratio of current sensors. One possibility to increase image qual...

Methoden zur Oberflächenregistrierung sind häufig zentraler Bestandteil verschiedener Anwendungen basierend auf Tiefenbildkameras. Der Iterative Closest Point (ICP) Algorithmus wird oft für die rigide Feinregistrierung verwendet, bezieht jedoch a-priori Wissen über die für Tiefenbildkameras typischen anisotropen Messfehler nicht in die Transformati...

In hybrid 3-D endoscopy, photometric information is augmented by range data for guidance in minimally invasive pro-cedures. In this paper, we propose a method for instrument segmentation exploiting sensor data fusion between range data and complementary photometric information. For improved robustness and to overcome the limited spatial resolu-tion...

3-D endoscopy is an evolving field of research with the intention to improve safety and efficiency of minimally invasive surgeries. Time-of-Flight (ToF) imaging allows to acquire range data in real-time and has been engineered into a 3-D endoscope in combination with an RGB sensor (640x480px) as a hybrid imaging system, recently. However, the ToF s...

Minimally invasive procedures are of growing importance in modern surgery. Navigation and orientation are major issues during these interventions as conventional endoscopes only cover a limited field of view. We propose the application of a Time-of-Flight (ToF) satellite camera at the zenith of the pneumoperitoneum to survey the operation situs. Du...

Acquisition of 3-D anatomical structure in minimally invasive surgery is an important step towards intraoperative guidance. In this context, the first prototype of a Time-of-Flight/RGB endoscope was engineered for simultaneous range and color data acquisition. Intrinsic and stereo camera calibration are essential to achieve an intuitive visualizati...

In the field of image-guided surgery, Time-of-Flight (ToF) sensors are of interest due to their fast acquisition of 3-D surfaces. How-ever, the poor signal-to-noise ratio and low spatial resolution of today's ToF sensors require preprocessing of the acquired range data. Super-resolution is a technique for image restoration and resolution enhance-me...

Minimally invasive procedures are of importance in modern surgery due to reduced operative trauma and recovery time. To enable robot assisted interventions, automatic tracking of endoscopie tools is an essential task. State-of-the-art techniques rely on 2-D color information only which is error prone for varying illumination and unpredictable color...

In the field of image-guided surgery, Time-of-Flight (ToF) sensors are of interest due to their fast acquisition of 3-D surfaces. However, the poor signal-to-noise ratio and low spatial resolution of today’s ToF sensors require preprocessing of the acquired range data. Superresolution is a technique for image restoration and resolution enhancement...

DKFZ) 2 Lehrstuhl für Mustererkennung, Friedrich-Alexander-Universität Erlangen-Nürnberg 3 Klinik für Allgemein-, Viszeral-und Transplantationschirurgie, Universitätsklinikum Heidelberg 4 Abt. Radiologie, Deutsches Krebsforschungszentrum (DKFZ) a.groch@dkfz-heidelberg.de Kurzfassung. Eine der größten Herausforderungen im Kontext von computergestütz...

3-D Endoscopy is an evolving field of research and offers great benefits for minimally invasive procedures. Besides the pure topology, color texture is an inevitable feature to provide an optimal visualization. Therefore, in this paper, we propose a sensor fusion of a Time-of-Flight (ToF) and an RGB sensor. This requires an intrinsic and extrinsic...

Detection, analysis and compensation of respiratory motion is a key issue for a variety of medical applications, such as tumor tracking in fractionated radiotherapy. One class of approaches aims for predicting the internal target movement by correlating intra-operatively captured body surface deformations to a pre-operatively learned deformable mod...

In radiation therapy, prior to each treatment fraction, the patient must be aligned to computed tomography (CT) data. Patient setup verification systems based on range imaging (RI) can accurately verify the patient position and adjust the treatment table at a fine scale, but require an initial manual setup using lasers and skin markers. We propose...

The recent introduction of low-cost devices for real-time acquisition of dense 3-D range imaging (RI) streams has attracted a great deal of attention. However, to date, there exists no open source framework that is explicitly dedicated to real-time processing of RI streams. In this paper, we present the Range Imaging Toolkit (RITK). The goal is to...