Real-time 3D reconstruction: applications to collision detection and surgical workflow monitoring
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1 Real-time 3D reconstruction: applications to collision detection and surgical workflow monitoring Nassir Navab! Alexander Ladikos, Nicolas Padoy, Diana Mateus and Cedric Cagniart! Presented by Nicolas Padoy! Computer Aided Medical Procedures (CAMP) Technische Universität München, Germany!
2 Motivation Due to safety concerns: Medical Robots are not used at their full speed & functionality: Need to predict and avoid collisions Siemens/Kuka Angiographic robot (Zeego)
3 Motivation Due to safety concerns: Medical Robots are not used at their full speed & functionality: Need to predict and avoid collisions Need to reconstruct & recognize objects in dynamic, complex environment Need to recover and monitor surgical workflow YOU
4 Multi-view Real-time Reconstruction"
5 Shape-from-Silhouette: Real-time 3D reconstruction Systems There are many real-time systems today It is comparatively easy to build such a system due to increase in computational power and its availability at reasonable price Most systems use the volumetric approach due to its simplicity One notable exception is the GrImage platform at INRIA Rhône-Alpes 5!
6 Shape-from-Silhouette: CAMP system" 16 synchronized cameras mounted on the ceiling! Working volume 3.5m x 3.5m x 2.5m! Runs at 30 Hz! Slave 1! Slave 2! Master! Slave 4! Slave 3! 6!
7 Shape-from-Silhouette: CAMP system" Camera images Slave 1 Slave 2 Slave 3 Slave 4 Silhouette images Local Reconstruction Network! Local Reconstructions Global Reconstruction Secure Hulls Visualization Master! 7!
8 Shape-from-Silhouette: CAMP system" 8!
9 Collision Avoidance System: CAMP system" Ladikos, Benhimane, Navab, MICCAI 2008! 9!
10 Advantages Shape-from-Silhouette: Summary Only silhouette images are required No need for correspondences or texture Robust Efficient and easy to implement Disadvantages Cannot recover concavities not seen in the silhouette images Artifacts for complex scenes and low number of cameras Needs calibrated input images Silhouettes need to be recovered 10!
11 Additional applications of real-time 3D reconstruction: Increasing the safety for interventional radiology crew: Real-time 3D reconstruction + Recognition and 3D surface path tracking + Radiation distribution and scattering modeling/estimation + Estimation of individualized accumulated radiation to body parts 11!
12 12!
13 Ladikos, Cagniart, Navab, MICCAI 2010!
14 Additional Applications of real-time 3D reconstruction: Recovering and monitoring surgical workflow for predicting the need and triggering/controlling events Acquisition of training data + Recovery of workflow based on signals (see next talk) + Recovery of workflow based on 3D flow + Monitoring of workflow and use for UI & robot control (see next talk) 14!
15 Padoy et al., VOEC 2009! 15!
16 Scenario & Data" Dataset of 22 sequences! Open Endoscopic 16!
17 Methods: 3D-flow" Capture global activity pattern! Lucas-Kanade in 3D! Spatial histograming! Smooth voting with RBF! Orientation quantization! Uniformly in 12 directions! Observation vectors! Size 216! Dimensionality reduction! 3x3x2 dodecahedron feature vector 17!
18 Methods: Workflow-HMM" Temporal process modeling! Hierarchical HMM with 2 levels, augmented with phase probability variables! Dynamic Bayesian Network representation:! 18!
19 Recovery of workflow based on signals " 19!
20 Recovery of workflow based on signals " 20!
21 Follow up project at TUM: Joint DACH project with: - EPFL (P. Fua, V. Lepetit) - TU Graz (H. Bischof) - Five researchers over three sites - Multi-camera systems in OR - + Kinect, TOF, Inertial Sensors, - Development of advanced workflow based Surgical interfaces Looking forward to national and international research collaboration
22 Thanks to 2009/11pubs : 9 TMI, 4 MedIA, IJCV, PAMI, 29 MICCAI, 12 CVPR, 3 ICCV, 3 ECCV,! 9 ISBI, 7 ISMAR, 8 BMVC, 2 IPMI, 2 IPCAI,!
23 Thank You For more information visit: campar.in.tum.de 23!
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