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Prof. Dr.-Ing. Dr. h.c. Heinz Wörn

Professor im Ruhestand
Tel.: +49 721 608-44006
Fax: +49 721 608-47141
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Professor Wörn studierte Elektrotechnik an der Universität Stuttgart und promovierte dort am Institut für Werkzeugmaschinen mit seiner Arbeit zu dem Thema "Mehrprozessorsteuerungssystem für Werkzeugmaschinen mit standartisierten Schnittstellen". Im Anschluss arbeitete er bei KUKA Schweißanlagen und Roboter GmbH, wo er eine leitende Stellung in Forschung und Entwicklung inne hatte. Professor Wörn ist ein international anerkannter Experte für Roboter und Automation. Seine Erfahrung umfasst Roboteranwendungen, Robotersteuerungen und Sensoren für Roboter, sowie deren Programmmierung und Simulation. Seit 1997 leitet er das Institut für Prozessrechentechnik, Automation und Robotik der Universität Karlsruhe als Professor für "Komplexe Systeme in Automation und Robotik".


  • Planung, Programmierung, Steuerung, Diagnose und Sensorsysteme für Industrieroboter
  • Autonome, mobile Roboter, Mikroroboter, Serviceroboter, Teleroboter, Autonome Fahrzeuge
  • Planung und Simulation von Anlagen und Fabriken
  • Roboter- und sensorgestützte Chirurgie
  • Mikromontage
  • Modellierung komplexer Systeme in Produktion und Medizin

Projector Based Visualization for Intraoperative Navigation: First Clinical Results

AutorH. Hoppe, G. Eggers, T. Heurich, J. Raczkowsky, R. Marmulla, H. Wörn, S. Hassfeld, J. L. Moctezuma
Veröffentlicht inProceedings of the 17th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS) 2003
EditorH. U. Lemke, M. W. Vannier, K. Inamura, A. G. Farman, K. Doi, J. H. C. Reiber
KurzfassungComplex surgical interventions are increasingly realized with the aid of computer-based operation planning systems. The most important step from the preoperative planning to the intraoperative realization consists of providing the planning data in a reasonable and easy to handle way without forfeiting the preoperatively achieved accuracy. This can be realized by using augmented reality techniques. We have developed a spatial augmented reality system which directly projects the planning data onto the patient. The developed system consists of a common video projector, two high resolution CCD cameras, and an off-the-shelf notebook. The application of a video projector allows overlaying the operating field with planning data and additional information in arbitrary colors. Furthermore, the projector is used as scanning device by projecting coded light patterns in order to registrate the patient. Subsequent movements of the non-fixed patient are detected by stereoscopically tracking passive markers attached to the patient’s upper jaw. In a first clinical study, the prototype system was tested with two test persons. Within the clinical testing, we evaluated the whole process chain from image acquisition to data projection and determined the overall accuracy. In addition to measuring the absolute accuracy, arbitrary landmarks on top of the patient’s skin surface were defined within the planning systems and used to measure the relative projection accuracy. We could show that the registration process can be performed accurately by matching the scanned skin surface of the patient to its CT- or MRI-generated counterpart. Due to soft part displacement, we obtained an average deviation of 1.4 mm by moving the patient. Whereas changing the projector’s position resulted in an average deviation of 0.9 mm. The average deviation of the projected crosshairs to the MR-visible Gadolinum markers was 0.45 mm. The underlying MRIs were acquired with a slice distance of 2.00 mm. Discussion - The first clinical testing showed that the developed low-cost augmented reality system is very accurate and meets clinical demands. Furthermore, the surgeon is not affected by head mounted devices and performs the intervention without any interference of his general practice. This work is funded by the Deutsche Forschungsgemeinschaft (DFG) and Stryker Leibinger, Freiburg, Germany.
Bibtex@article{ ipr_1057578092, author = "{H. Hoppe and G. Eggers and T. Heurich and J. Raczkowsky and R. Marmulla and H. W{{\"o}}rn and S. Hassfeld and J. L. Moctezuma}", title = "{Projector Based Visualization for Intraoperative Navigation: First Clinical Results}", year = "2003", journal = "{Proceedings of the 17th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS) 2003}", pages = "S. 771", }
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