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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".

Forschungsgebiete

  • 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

The introduction of augmented reality in neuroendoscopy: from surgeons' support to possible source of 3D intraoperative models

AutorM. Ciucci, L. Kahrs, J.Raczkowsky, R.Wirtz, H. Wörn
Jahr2007
Veröffentlicht inMIMOS 2007 - National Conference on Modeling and Simulation, Turin (Italy)
EditorMIMOS electronic publications
KurzfassungThe main neurosurgical operations are performed today with a surgical microscope or with endoscopic techniques. The goal of this paper is to show all the possible applications of augmented and virtual reality in the framework of endoscopic operation, highlighting which are the intrinsic limits of these kind of procedures, which AR solutions are already available now in the OR and which, among the possible proposed solution in this research field, are judged as the more promising and clinically relevant ones. Common to every neurosurgical operations are indeed some general constraints: the access to the brain through a single section, the reduced side mobility of the instrument if not along the operation channel and the need of a wide perspective and of a reasonable magnification factor when inspecting tissues. These requirements, which stem directly from the clinical workflow, can be translated, from the technical point of view, in a general difficulty in the extraction of depth information out of endoscopic images, in the usage of fisheye lenses with a strong distortion, and, from the medical point of view, in a constrained lateral mobility of the instrument, in a limited and highly distorted vision and in the complete lack of a backward view and of the possibility of inspecting relevant anatomical structures when these are laying in inaccessible regions. The solutions offered by techniques of virtual endoscopy put intraoperatively beside to real endoscopy allow the surgeon to simulate arbitrary views on the patient model, to access intraoperatively to clinically relevant details extracted from CT/MRI data, in case of hemorrhage, to inspect previously saved endoscopic views or, using virtual reality, virtual regions otherwise not accessible. The possibilities offered from AR (which in neurosurgical daily practice has not yet imposed itself as a standard tool), concern the intraoperative extraction of point clouds out of internal examined surfaces, the tracking of anatomical landmarks previously identified, and the possible reuse of acquired point clouds for an intraoperative registration or for a measure of the brain shift. In the future, is it possible to foresee the reconstruction of brain surface models (for example, the brain ventricles) as a viable intraoperative neurosurgical tool.
Bibtex@article{ ipr_1170857244, author = "{M. Ciucci and L. Kahrs and J.Raczkowsky and R.Wirtz and H. W{{\"o}}rn}", title = "{The introduction of augmented reality in neuroendoscopy: from surgeons' support to possible source of 3D intraoperative models}", year = "2007", journal = "{MIMOS 2007 - National Conference on Modeling and Simulation, Turin (Italy)}", }
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