A Real-Time Deformable Model for Flexible Instruments Inserted into Tubular Structures

Kukuk, Markus; Geiger, Bernhard

doi:10.1007/3-540-45787-9_42

Cited by 5 publications

(7 citation statements)

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“…There exists an initial position domain P ⊂ M, which is a set of possible initial locations for the endoscope, before needle placement. The endoscope is assumed to be given by the model described in [4], namely by a sequence of links, interconnected by joints. Letp ∈ P denote the real, but unknown position of the endoscope after insertion.…”

Section: Assumptionsmentioning

confidence: 99%

“…A typical example for such a procedure is a "transbronchial needle aspiration biopsy" (TBNA) [3], [4]. Traditionally this biopsy is performed by maneuvering a bronchoscope to a suitable site within the tracheobronchial tree.…”

Section: Introductionmentioning

confidence: 99%

“…The advantage of considering this variation of the problem is that there exists an approximative solution, which is easy to implement and is guaranteed to be within a factor 1 − 1 e of the exact solution. We use our model of a flexible endoscope [4] together with our virtual endoscopy system to experimentally validate the approach.…”

Section: Introductionmentioning

confidence: 99%

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An “Optimal” k-Needle Placement Strategy Given an Approximate Initial Needle Position

Kukuk

2003

Lecture Notes in Computer Science

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Abstract. In this paper we address the problem of finding an "optimal" strategy for placing k biopsy needles, given a large number of possible initial needle positions. This problem arises for example in guided, endoscopic needle biopsies, where the position of the endoscope's tip is known with some error. We consider two variations of the problem: (1) Calculate the smallest set of needles 1 , needed to guarantee a successful biopsy. (2) Given a number k, calculate k needles such that the probability of a successful biopsy is maximized. We formulate both problems in terms of two general, NP-hard optimization problems. Our solution to both problems is "optimal" with respect to the best approximative algorithm known for the respective NP-hard problem. For the latter problem there exists an approximative algorithm which requires virtually no implementation effort and is guaranteed to be within a factor of 1 − 1 e of the exact solution. For both variations of the problem we are able to provide success probabilities for each needle to the physician. We have implemented the approximative algorithm for the second variation. The resulting probabilities show that our approach can provide valuable decision support for the physician in choosing how many needles to place and how to place them.

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Section: Assumptionsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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An “Optimal” k-Needle Placement Strategy Given an Approximate Initial Needle Position

Kukuk

2003

Lecture Notes in Computer Science

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“…Physically inspired models, e.g. multibody systems composed of rigid links as in Kukuk et al, 9 require explicit modeling of contact forces. Finite-Element Modeling (FEM) can represent bending realistically, but is computationally expensive and requires knowledge-based constraints.…”

Section: Introductionmentioning

confidence: 99%

3D catheter reconstruction using non-rigid structure-from-motion and robotics modeling

Papalazarou

Rongen

2012

SPIE Proceedings

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Surgical guidance during minimally invasive intervention could be greatly enhanced if the 3D location and orientation of instruments, especially catheters, is available. In this paper, we present a new method for the 3D reconstruction of deforming curvilinear objects such as catheters, using the framework of Non-Rigid Structurefrom-Motion (NRSfM). We combine NRSfM with a kinematics model from the field of Robotics, which provides a low-dimensional parametrization of the object deformation. This is used in the context of an X-ray imaging system where multiple views are acquired with a small view separation. We show that using such a kinematics model, a non-linear optimization scheme succeeds in retrieving the deformable 3D pose from the 2D projections. Experiments on synthetic and real X-ray data show promising results of the proposed method as compared to state-of-the-art NRSfM.

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“…More elaborate solution involve additional hardware like magnetic tracking devices that are fixed on the endoscope tip and allow to track the position of the endoscope in real-time (Solomon [13]). Another solution is based on a physical model of the endoscope and additional measurements of insertion depth, rotation angle and bending angle, measured at the outside of the patient (Kukuk et al [11]). …”

Section: Introductionmentioning

confidence: 99%

Virtual bronchoscopy guidance system for transbronchial needle aspiration

et al. 2005

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A system for planning transbronchial needle aspiration (TBNA) based on high-resolution chest CT is presented, comprising 2D axial, coronal or sagittal views and a 3D perspective intra-luminal view of the airways. The biopsy site can be defined interactively on the 2D views, and is displayed as 3D object across the translucent bronchial wall. Reference points can be placed on anatomical landmarks like the carina, which allows measuring 3D distances to viewpoints or to other landmarks. Orientation of the targets can be estimated based on a consistent orientation of the virtual endoscopic view. The system can be used as a pre-interventional planning tool, or simultaneously during the biopsy, in order to select the optimal needle insertion points. The system does not provide registration between the virtual and the real images, and does not require special hardware for tracking or any modifications of the bronchoscope. A phantom study comprising three bronchoscopists with different levels of experience showed a significant increase in yield compared to the traditional procedure based on axial CT images alone.

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A Real-Time Deformable Model for Flexible Instruments Inserted into Tubular Structures

Cited by 5 publications

References 5 publications

An “Optimal” k-Needle Placement Strategy Given an Approximate Initial Needle Position

An “Optimal” k-Needle Placement Strategy Given an Approximate Initial Needle Position

3D catheter reconstruction using non-rigid structure-from-motion and robotics modeling

Virtual bronchoscopy guidance system for transbronchial needle aspiration

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