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PERSPECTIVE IN IMAGE-GUIDED SURGERY Proceedings of the Scientific Workshop on Medical Robotics, Navigation and Visualization RheinAhrCampus Remagen, Germany, 11 - 12 March 2004 CONTENTS FRONT MATTER v Registration STEREOTACTIC TREATMENT PLANNING USING FUSED MULTI-MODALITY IMAGING KLAUS-D. HAMM, GUNNAR SURBER, GABRIELE KLEINERT, M. SCHMÜCKING, A. NIESEN, R.P. BAUM, R. ASCHENBACH and ST. BASCHE 3 NON-RIGID REGISTRATION OF INTRAOPERATIVELY ACQUIRED 3D ULTRASOUND DATA OF BRAIN TUMORS MARLOES M.J. LETTEBOER, PIERRE HELLIER, DANIEL RUECKERT, PETER W.A. WILLEMS, JAN WILLEM BERKELBACH and WIRO J. NIESSEN 11 COMPARISON OF DIFFERENT REGISTRATION METHODS FOR NAVIGATION IN CRANIO-MAXILLOFACIAL SURGERY M. ZINSER, RA MISCHKOWSKI, M SIESSEGGER, J NEUGEBAUER, A KÜBLER and JE. ZÖLLER 19 LOCALISATION OF MOVING TARGETS FOR NAVIGATED RADIOTHERAPY LUCIA VENCES, OTTO SAUER, MICHAEL ROTH, KAJETAN BERLINGER, MANFRED DOETTER and ACHIM SCHWEIKARD 26 ACCURACY AND PRACTICABILITY OF LASER SURFACE SCANNING FOR REGISTRATION IN IMAGE GUIDED NEUROSURGERY RENÉ KRISHNAN, ANDREAS RAABE and VOLKER SEIFERT 31 USING THE AWIGS SYSTEM FOR PREPARATION OF COMPUTER AIDED SURGERY H. KNOOP, J. RACZKOWSKY, H. WÖRN, U. WYSLUCHA and T. FIEGELE 37 ULTRA-FAST HOLOGRAPHIC RECORDING AND AUTOMATIC 3D SCAN MATCHING OF LIVING HUMAN FACES DOMINIK GIEL, SUSANNE FREY, ANDREA THELEN, JENS BONGARTZ, PETER HERING, ANDREAS NÜCHTER, HARTMUT SURMANN, KAI LINGEMANN and JOACHIM HERTZBERG 43 AUTOMATIC COARSE REGISTRATION OF 3D SURFACE DATA IN ORAL AND MAXILLOFACIAL SURGERY TOBIAS MAIER, M. BENZ, N. SCHÖN, E. NKENKE, F. W. NEUKAM, F. VOGT and G. HÄUSLER 51 AUTOMATED MARKER DETECTION FOR PATIENT REGISTRATION IN IMAGE GUIDED NEUROSURGERY RENÉ KRISHNAN, ELVIS HERMANN, ROBERT WOLFF, ANDREAS RAABE and VOLKER SEIFERT 59 Advanced Navigation and Motion Tracking CLINICAL RELEVANCE OF PREOPERATIVE CT- BASED COMPUTER AIDED 3D- PLANNING IN HEPATOBILIARY, PANCREATIC SURGERY AND LIVING DONOR LIVER TRANSPLANTATION JENS HARMS, HOLGER BOURQUAIN, KJ OLDHAFER, H-O PEITGEN, J HAUSS and J FANGMANN 69 ANALYSIS OF DRILL SOUND IN SPINE SURGERY I. BOESNACH, M. HAHN, J. MOLDENHAUER, TH. BETH and U. SPETZGER 77 EXPERIMENTAL NAVIGATION SETUP FOR CORONARY INTERVENTIONS J. BORGERT, S. KRÜGER, R. GREWER and H. TIMINGER 85 BEATING HEART TRACKING IN ROBOTIC SURGERY USING 500 HZ VISUAL SERVOING R. GINHOUX, J. A. GANGLOFF, M. F. DE MATHELIN, L. SOLER, MARA M. ARENAS SANCHEZ and J. MARESCAUX 93 OCCLUSION-ROBUST, LOW-LATENCY OPTICAL TRACKING USING A MODULAR SCALABLE SYSTEM ARCHITECTURE A. KÖPFLE, R. MÄNNER, M. SCHILL, M. RAUTMANN, P.P. POTT, M.L.R. SCHWARZ, H.P. SCHARF, A. WAGNER, E. BADREDDIN and P. WEISER 101 DEVELOPMENT OF AUTOCLAVABLE REFLECTIVE OPTICAL MARKERS FOR NAVIGATION BASED SURGERY DIRK SCHAUER, TIMO KRUEGER and TIM LUETH 109 ISO-C 3D NAVIGATED DRILLING OF OSTEOCHONDRAL DEFECTS OF THE TALUS: A CADAVER STUDY MUSA CITAK, JENS GEERLING, DANIEL KENDOFF, MARTINUS RICHTER, TOBIAS HÜFNER and CHRISTIAN KRETTEK 118 DEVELOPMENT OF A NAVIGATION SYSTEM FOR TRANSCRANIAL MAGNETIC STIMULATION (TMS) AXEL WECHSLER, STEFAN WOESSNER, JAN STALLKAMP, AXEL THIELSCHER and THOMAS KAMMER 122 FLUOROSCOPY BASED NAVIGATED DRILLING OF FOUR OSTEONECROTIC LESIONS IN ONE PATIENT MUSA CITAK, JENS GEERLING, DANIEL KENDOFF, HENDRIK WÜBBEN, CHRISTIAN KRETTEK and TOBIAS HÜFNER 129 ISO-C 3D ACCURACY-CONTROL AND USEFULLNESS AT CALCANUES OSTEOSYNTHESIS DANIEL KENDOFF, JENS GEERLING, MARTINUS RICHTER, TOBIAS HÜFNER, MUSA CITAK, CHRISTIAN KRETTEK and MAURICIO KFURI, JR. 133 CRANIOFACIAL ENDOSSEUS IMPLANT POSITIONING WITH IMAGE-GUIDED SURGICAL NAVIGATION J. HOFFMANN, D. TROITZSCH, C. WESTENDORFF, F. DAMMANN and S. REINERT 137 A HYBRID APPROACH TO MINIMALLY INVASIVE CRANIOMAXILLOFACIAL SURGERY: VIDEOENDOSCOPIC-ASSISTED INTERVENTIONS WITH IMAGE-GUIDED NAVIGATION J. HOFFMANN, D. TROITZSCH, C. WESTENDORFF, F. DAMMANN and S. REINERT 144 GEOMETRICAL CONTROL APPROACHES FOR MINIMALLY INVASIVE SURGERY MICAEL MICHELIN, ETIENNE DOMBRE and PHILIPPE POIGNET 152 PROSPECTIVE HEAD MOTION COMPENSATION BY UPDATING THE GRADIENTS OF THE MRT C. DOLD, EVELYN A. FIRLE, G. SAKAS, M. ZAITSEV, O. SPECK, J. HENNIG and B. SCHWALD 160 Calibration and Accuracy Analysis NON-INVASIVE INTRAOPERATIVE IMAGING USING LASER RADAR IMAGING IN HIP JOINT REPLACEMENT SURGERY GÜNTER KOMPA and GEORGE KAMUCHA 171 ACCURACY IN COMPUTER ASSISTED IMPLANT DENTISTRY: IMAGE GUIDED TEMPLATE PRODUCTION VS. BURR TRACKING GERLIG WIDMANN, ROLAND WIDMANN, EKKEHARD WIDMANN and RETO JOSEF BALE 180 3D-ACCURACY ANALYSIS OF FLUOROSCOPIC PLANNING AND NAVIGATION OF BONE-DRILLING PROCEDURES J. A. K. OHNSORGE, M. WEISSKOPF, E. SCHKOMMODAU, J. E. WILDBERGER, A. PRESCHER and C.H. SIEBERT 187 ACCURACY OF FLUOROSCOPE AND NAVIGATED CONTROLLED HIND- AND MIDFOOT CORRECTION OF DEFORMITIES – A FEASIBILITY STUDY JENS GEERLING, STEFAN ZECH, DANIEL KENDOFF, TOBIAS HÜFNER, MARTINUS RICHTER and CHRISTIAN KRETTEK 193 NAVIGATION ERROR OF UPDATE NAVIGATION SYSTEM BASED ON INTRAOPERATIVE MRI YOSHIHIRO MURAGAKI, HIROSHI ISEKI, MADOKA SUGIURA, KOUICHI SUZUKAWA, KYOJIRO NAMBU, KINTOMO TAKAKURA, TAKASHI MARUYAMA, OSAMI KUBO and TOMOKATSU HORI 198 ACCURACY ANALYSIS OF VESSEL SEGMENTATION FOR A LITT DOSIMETRY PLANNING SYSTEM J. DREXL, V. KNAPPE, H. K. HAHN, K. S. LEHMANN, B. FRERICKS, H. SHIN and H.-O. PEITGEN 204 Clinical Case Studies RESECTION OF BONY TUMORS WITHIN THE PELVIS – HEMIPELVECTOMY USING NAVIGATION AND IMPLANTATION OF A NEW, CUSTOM MADE PROSTHESIS JENS GEERLING, DANIEL KENDOFF, LEONHARD BASTIAN, ECKEHARD MÖSSINGER, MARTINUS RICHTER, TOBIAS HÜFNER and CHRISTIAN KRETTEK 217 F-MRI INTEGRATED NEURONAVIGATION – LESION PROXIMITY TO ELOQUENT CORTEX AS PREDICTOR FOR MOTOR DEFICIT RENÉ KRISHNAN, HILAL YAHYA, ANDREA SZELÉNYI, ELKE HATTTINGEN, ANDREAS RAABE and VOLKER SIEFERT 223 TRENDS AND PERSPECTIVES IN COMPUTER-ASSISTED DENTAL IMPLANTOLOGY KURT SCHICHO, ROLF EWERS, ARNE WAGNER, RUDOLF SEEMANN and GERT WITTWER 231 THE EXPERIENCE OF THE WORKING GROUP FOR COMPUTER ASSISTED SURGERY AT THE UNIVERSITY OF COLOGNE R.A. MISCHKOWSKI, M. ZINSER, M. SIESSEGGER, A.C. KÜBLER and J. E. ZÖLLER 236 FLUOROSCOPIC NAVIGATION OF THE DYNAMIC HIP SCREW (DHS): AN EXPERIMENTAL STUDY DANIEL KENDOFF, JENS GEERLING, MUSA CITAK, THOMAS GÖSLING, TOBIAS HÜFNER, CHRISTIAN KRETTEK and MAURICIO KFURI, JR. 240 IMAGE-GUIDED NAVIGATION FOR INTERSTITIAL LASER TREATMENT OF VASCULAR MALFORMATIONS IN THE HEAD AND NECK J. HOFFMANN, C. WESTENDORFF, D. TROITZSCH, U. ERNEMANN and S. REINERT 244 MINIMALLY INVASIVE NAVIGATION-ASSISTED BONE TUMOR EXCISION IN THE PARIETAL SKULL J. HOFFMANN, D. TROITZSCH, C. WESTENDORFF, F. DAMMANN and S. REINERT 252 Simulation and Modelling REALISTIC HAPTIC INTERACTION FOR COMPUTER SIMULATION OF DENTAL SURGERY A. PETERSIK, B. PFLESSER, U. TIEDE, K.H. HÖHNE, M. HEILAND and H. HANDELS 261 ROBOTIC SIMULATION SYSTEM FOR PRECISE POSITIONING IN MEDICAL APPLICATIONS ECKHARD FREUND, FRANK HEINZE and JÜRGEN ROSSMANN 270 COMPUTER-AIDED SUTURING IN LAPAROSCOPIC SURGERY F. NAGEOTTE, M. DE MATHELIN, C. DOIGNON, L. SOLER, J. LEROY and J. MARESCAUX 278 EXPERIMENTAL VALIDATION OF A FORCE PREDICTION ALGORITHM FOR ROBOT ASSISTED BONE-MILLING CHRISTOPHER PLASKOS, ANTONY J. HODGSON and PHILIPPE CINQUIN 286 SKALPEL-ICT: SIMULATION KERNEL APPLIED TO THE PLANNING AND EVALUATION OF IMAGE-GUIDED CRYOTHERAPY ALEXANDRA BRANZAN ALBU, DENIS LAURENDEAU, CHRISTIAN MOISAN and DENIS RANCOURT 295 SIMULATION OF RADIO-FREQUENCY ABLATION USING COMPOSITE FINITE ELEMENT METHODS T. PREUSSER, H.-O. PEITGEN, F. LIEHR, M. RUMPF, U. WEIKARD and S. SAUTER 303 AN INTERACTIVE PLANNING AND SIMULATION TOOL FOR MAXILLO-FACIAL SURGERY G. BERTI, J. FINGBERG, J. G. SCHMIDT and T. HIERL 311 Robotic Interventions PRINCIPLES OF NAVIGATION IN SURGICAL ROBOTICS DOMINIK HENRICH and PHILIPP STOLKA 321 ROBOTIC SURGERY IN NEUROSURGICAL FIELD HIROSHI ISEKI, YOSHIHIRO MURAGAKI, RYOICHI NAKAMURA, MOTOHIRO HAYASHI, TOMOKATSU HORI, KINTOMO TAKAKURA, SHIGERU OMORI, KOUJI NISHIZAWA and ICHIRO SAKUMA 330 FROM THE LABORATORY TO THE OPERATING ROOM: USABILITY TESTING OF LER, THE LIGHT ENDOSCOPE ROBOT P. BERKELMAN, E. BOIDARD, P. CINQUIN and J. TROCCAZ 338 ROBOTIC AND LASER AIDED NAVIGATION FOR DENTAL IMPLANTS T. M. BUZUG, U. HARTMANN, D. HOLZ, G. SCHMITZ, J. BONGARTZ, P. HERING, M. IVANENKO, G. WAHL and Y. POHL 344 SURGICOBOT: SURGICAL GESTURE ASSISTANCE COBOT FOR MAXILLO-FACIAL INTERVENTIONS ERIC BONNEAU, FARID TAHA, PHILIPPE GRAVEZ and SYLVIE LAMY 353 SENSOR-BASED INTRA-OPERATIVE NAVIGATION FOR ROBOT-ASSISTED KEYHOLE SURGERY JAN STALLKAMP 361 ROBOTIZED DISTRACTION DEVICE FOR SOFT TISSUE MONITORING IN KNEE REPLACEMENT SURGERY C. MARMIGNON, A. LEMNIEI and P. CINQUIN 369 STATE OF THE ART OF SURGICAL ROBOTICS PETER P. POTT, ANDREAS KÖPFLE, ACHIM WAGNER, ESSAMEDDIN BADREDDIN, REINHARD MÄNNER, PETER WEISER, HANNS-PETER SCHARF and MARKUS L. R. SCHWARZ 375 OPTIMISATION OF THE ROBOT PLACEMENT IN THE OPERATING ROOM Pierre MAILLET, Philippe POIGNET and Etienne DOMBRE 383 SAFETY OF SURGICAL ROBOTS IN CLINICAL TRIALS W. KORB, R. BOESECKE, G. EGGERS, B. KOTRIKOVA, R. MARMULLA, N. O'SULLIVAN, J. MÜHLING, S. HASSFELD, D. ENGEL, H. KNOOP, J. RACZKOWSKY and H. WÖRN 391 ROBOTICS IN HEALTH CARE: INTERDISCIPLINARY TECHNOLOGY ASSESSMENT INCLUDING ETHICAL REFLECTION MICHAEL DECKER 397 Sensor Feed-Back Systems PALPATION IMAGING USING A HAPTIC SYSTEM FOR VIRTUAL REALITY APPLICATIONS IN MEDICINE W. KHALED, S. REICHLING, O. T. BRUHNS, H. BOESE, M. BAUMANN, G. MONKMAN, S. EGERSDOERFER, D. KLEIN, A. TUNAYAR, H. FREIMUTH, A. LORENZ, A. PESAVENTO and H. ERMERT 407 IN VIVO STUDY OF FORCES DURING NEEDLE INSERTIONS B. MAURIN, L. BARBE, B. BAYLE, P. ZANNE, J. GANGLOFF, M. DE MATHELIN, A. GANGI, L. SOLER and A. FORGIONE 415 TEACHING BONE DRILLING: 3D GRAPHICAL AND HAPTIC SIMULATION OF A BONE DRILLING OPERATION H. ESEN, M. BUSS and K. YANO 423 MICROMACHINED SILICON 2-AXIS FORCE SENSOR FOR TELEOPERATED SURGERY FREDERICK VAN MEER, DANIEL ESTEVE, ALAIN GIRAUD and ANNE MARIE GUE 432 IMPROVEMENT OF COMPUTER- AND ROBOT- ASSISTED SURGERY AT THE LATERAL SKULL BASE BY SENSORY FEEDBACK DIRK MALTHAN, JAN STALLKAMP, STEFAN WOESSNER, ERWIN SCHWADERER, FLORIAN DAMMANN and MARCUS M. MAASSEN 441 A SURGICAL MECHATRONIC ASSISTANCE SYSTEM WITH HAPTIC INTERFACE S. PIECK, I. GROSS, P. KNAPPE and J. WAHRBURG 450 Visualization and Augmented Reality CALIBRATION OF A STEREO SEE-THROUGH HEAD-MOUNTED DISPLAY SASSAN GHANAI, GEORG EGGERS, JOACHIM MUEHLING, RUEDIGER MARMULLA, STEFAN HASSFELD, TOBIAS SALB and RUEDIGER DILLMANN 461 COMBINED TRACKING SYSTEM FOR AUGMENTED REALITY ASSISTED TREATMENT DEVICE WU RUOYUN, MD IRWAN MD KASSIM, WEE SIEW BOCK and NG WAN SING 468 VIRTUAL REALITY, AUGMENTED REALITY AND ROBOTICS IN SURGICAL PROCEDURES OF THE LIVER Luc SOLER, Nicholas AYACHE, Stéphane NICOLAU, Xavier PENNEC, Clément FOREST, Hervé DELINGETTE, Didier MUTTER and Jacques MARESCAUX 476 FUNCTIONAL MAPPING OF THE CORTEX – SURFACE BASED VISUALIZATION OF FUNCTIONAL MRI RENÉ KRISHNAN, ANDREAS RAABE, MICHAEL ZIMMERMANN and VOLKER SEIFERT 485 3D-RECONSTRUCTION AND VISUALIZATION OF BONE MINERAL DENSITY FOR THE ETHMOID BONE CORNELIA KOBER, ROBERT SADER and HANS-FLORIAN ZEILHOFER 490 BACK MATTER 499 Back

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