{"version":1,"kind":"Article","sha256":"","slug":"738","location":"","dependencies":[],"doi":"10.54294/ugkbew","frontmatter":{"title":"Extending MITK by a real-time online video overlay navigation system for minimally invasive surgery","abstract":"The purpose of this paper is to present our extension of the MITK toolkit by a real-time navigation system for computer assisted surgery. The system was developed with laparoscopic partial nephrectomies as a first application scenario. The main goal of the application is to enable tracking of the tumor position and orientation during surgery. Our system is based on ultrasound to CT registration and electromagnetic tracking. The basic idea is to process tracking information to generate an augmented reality (AR) visualization of a tumor model in the camera image of a laparoscopic camera. Our system will enhance the surgeon’s view on the current scene and therefore facilitates higher safety during the surgery. A key intention of the development was to use only open source toolkits such as VTK, MITK and OpenCV in order to implement the desired functionality. So far we have applied our system in vitro in two phantom trials with a surgeon which yielded promising results.","license":"You are licensing your work to Kitware Inc. under the\nCreative Commons Attribution License Version 3.0.\n\nKitware Inc. agrees to the following:\n\nKitware is free\n * to copy, distribute, display, and perform the work\n * to make derivative works\n * to make commercial use of the work\n\nUnder the following conditions:\n\\\"by Attribution\\\" - Kitware must attribute the work in the manner specified by the author or licensor.\n\n * For any reuse or distribution, they must make clear to others the license terms of this work.\n * Any of these conditions can be waived if they get permission from the copyright holder.\n\nYour fair use and other rights are in no way affected by the above.\n\nThis is a human-readable summary of the Legal Code (the full license) available at\nhttp://creativecommons.org/licenses/by/3.0/legalcode","keywords":["navigation","MITK","VTK","AR","OpenCV","registration","IGT"],"authors":[{"name":"Keil, Matthias","email":"matthias.keil@igd.fraunhofer.de","affiliations":["Fraunhofer IGD"],"corresponding":true},{"name":"Noll, Matthias","affiliations":[]}],"date_submitted":"2010-08-15 15:09:35","external_publication_id":738,"revision_cids":["bafkreiamiygebhny45isw4kahpkd7jic6qceibyqopqfbabygttpj4hoxi"]},"mdast":{"type":"root"},"downloads":[{"url":"https://ipfs.desci.com/ipfs/bafkreibsbqu3vdf5ssg3abokxxjphxriwnkfvmbuj46k534v6ebiswtks4","title":"root/insight-journal-metadata.json","filename":"insight-journal-metadata.json","extra":{"size_bytes":10115,"type":"file"}},{"url":"https://dweb.link/ipfs/bafkreigt2d3sbdrhomarcpeelp2pmps32qsuwnodzm4vncssdpn2diq6ja","title":"root/article.pdf","filename":"article.pdf","extra":{"size_bytes":518043,"type":"file"}}],"references":{"cite":{"order":["ref1","ref2","ref3","ref4","ref5","ref6","ref7","ref8","ref9","ref10","ref11","ref12","ref13","ref14","ref15","ref16","ref17","ref18","ref19","ref20","ref21"]},"data":{"ref1":{"label":"ref1","enumerator":"1","url":"https://doi.org/10.1007/s11554-009-0140-2","html":"Real-time optical markerless tracking for augmented reality applications+Journal of Real-Time Image Processing+5+2+129+138+June 2010+Iigo Barandiaran+Manuel Graa"},"ref2":{"label":"ref2","enumerator":"2","url":"https://doi.org/10.1007/s11548-008-0216-7","html":"Soft tissue navigation for laparoscopic partial nephrectomy+International Journal of Computer Assisted Radiology and Surgery+3+3+1+314+September 2008+M. Baumhauer+D. Stich+C. Teber+J. Gutt+H. Rassweiler+and I. Wolf. Meinzer"},"ref3":{"label":"ref3","enumerator":"3","url":"https://doi.org/10.1109/42.736028","html":"Calibration of tracking systems in a surgical environment+IEEE Transactions on Medical Imaging+17+5+737+742+1998+W. Birkfellner+F. Watzinger+F. Wanschitz+R. Ewers+H. Bergmann"},"ref4":{"label":"ref4","enumerator":"4","url":"https://doi.org/10.1007/bfb0056218","html":"Concepts and results in the development of a hybrid tracking system for cas+In Medical Image Computing and Computer-Assisted Interventation MICCAI - 1998+1496+343+351+1998+Wolfgang Birkfellner+Helmar Bergmann"},"ref5":{"label":"ref5","enumerator":"5","url":"https://doi.org/10.1109/mra.2009.933612","html":"Learning OpenCV: Computer Vision with the OpenCV Library+O'Reilly+2008+Gary Bradski+Adrian Kaehler"},"ref6":{"label":"ref6","enumerator":"6","html":"Computer Vision+2004+R. I. Hartley+A. Zisserman+edition second"},"ref7":{"label":"ref7","enumerator":"7","url":"https://doi.org/10.1109/cvpr.1997.609468","html":"A four-step camera calibration procedure with implicit image correction+In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition+17+1112+1997+J. Heikkila+O. Silven"},"ref8":{"label":"ref8","enumerator":"8","url":"https://doi.org/10.1109/isbi.2009.5193215","html":"Ultrasound and ct registration quality: Elastography vs. classical b-mode+In IEEE International Symposium on Biomedical Imaging: From Nano to Macro+2009+09+2009+July+Matthias Keil+Philipp J. Stolka+Elliot R. McVeigh+Russell H. Taylor"},"ref9":{"label":"ref9","enumerator":"9","url":"https://doi.org/10.1088/0031-9155/50/4/002","html":"Modality-integrated magnetic catheter tracking for x-ray vascular interventions+Physics in Medicine and Biology+50+4+581+2005+Sascha Krueger+Joern Borgert"},"ref10":{"label":"ref10","enumerator":"10","url":"https://doi.org/10.1002/rcs.203","html":"Endocas navigator platform: a common platform for computer and robotic assistance in minimally invasive surgery+International Journal of Medical Robotics and Computer Assisted Surgery+4+3+1+251+Sep 2008+Megali Giuseppe+Franco Mosca"},"ref11":{"label":"ref11","enumerator":"11","url":"https://doi.org/10.1007/11566489_67","html":"Hybrid bronchoscope tracking using a magnetic tracking sensor and image registration+In Medical Image Computing and ComputerAssisted Intervention - MICCAI+2005+3750+543+550+Mori Kensaku+Hiroshi Calvin R. Maurer+Natori"},"ref12":{"label":"ref12","enumerator":"12","url":"https://doi.org/10.1007/978-3-540-79982-5_39","html":"Realtime organ tracking for endoscopic augmented reality visualization using miniature wireless magnetic tracker+Medical Imaging and Augmented Reality+2+2+366+2008+Nakamoto Masahiko+Yoshinobu Sato"},"ref13":{"label":"ref13","enumerator":"13","url":"https://doi.org/10.1117/12.844589","html":"A 3d-elastography-guided system for laparoscopic partial nephrectomies+Proceedings SPIE Medical Imaging+7625+2010+J. Philipp+Stolka+McVeigh Elliot+Mohamad E. Allaf+Russell H. Taylor+M. Emad+Boctor"},"ref14":{"label":"ref14","enumerator":"14","url":"https://doi.org/10.1109/cvpr.1999.786974","html":"On plane-based camera calibration: A general algorithm, singularities, applications+In IEEE Computer Society Conference on Computer Vision and Pattern Recognition+432+437+1999+F. Peter+Stephen J. Sturm+Maybank"},"ref15":{"label":"ref15","enumerator":"15","url":"https://doi.org/10.1016/j.urology.2008.11.040","html":"Augmented reality during robot-assisted laparoscopic partial nephrectomy: toward real-time 3d-ct to stereoscopic video registration+Urology+73+4+1+900+April 2009+Su Li-Ming+Gregory D Russell H Taylor+Hager"},"ref16":{"label":"ref16","enumerator":"16","url":"https://doi.org/10.1016/j.eururo.2009.05.017","html":"Augmented reality: A new tool to improve surgical accuracy during laparoscopic partial nephrectomy? preliminary in vitro and in vivo results+European Urology+56+2+332+338+2009+Teber Dogu"},"ref17":{"label":"ref17","enumerator":"17","url":"https://doi.org/10.1007/3-540-32137-3_85","html":"Informatik aktuell+In Bildverarbeitung fu¨r die Medizin+2006+419+423+Wengert Christian+Gbor Szkely"},"ref18":{"label":"ref18","enumerator":"18","html":"The mitk approach+The Insight Journal, MICCAI Open-Source Workshop:5+2005+I. Wolf+M. Nolden+T. Boettger+M. Schoebinger+M. Hastenteufel+T. Heimann+H. Meinzer+M. Vetter"},"ref19":{"label":"ref19","enumerator":"19","url":"https://doi.org/10.3109/10929080500163505","html":"Development of a camera model and calibration procedure for oblique-viewing endoscopes+Computer Aided Surgery+9+5+203+214+2004+Yamaguchi Tetsuzo+Shinichi Tamura"},"ref20":{"label":"ref20","enumerator":"20","url":"https://doi.org/10.1109/34.888718","html":"A flexible new technique for camera calibration+IEEE Transactions on Pattern Analysis and Machine Intelligence+22+11+3+1334+November 2000+Z. Zhang"},"ref21":{"label":"ref21","enumerator":"21","url":"https://doi.org/10.1109/iccv.1999.791289","html":"Flexible camera calibration by viewing a plane from unknown orientations+In The Proceedings of the Seventh IEEE International Conference on Computer Vision+1+666+673+1999+Zhengyou Zhang"}}}}