02 December 2002
Ballroom 1, The Oriental Hotel, Singapore
09:00 – 17:30
France – Singapore Workshop on Medical Imaging and Robotics
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02 December 2002 Ballroom 1, The Oriental Hotel, Singapore 09:00 – 17:30 |
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Jointly organized by
National University of Singapore (NUS) & Nanyang Technological University (NTU)
and
National Research Institute in Computer Science and Control (INRIA, France)
Principal Sponsors:
French
Physical Models, Resolution Methods and
Real-time Interactions for Soft Tissue Simulations in Medical Simulators
C. Laugier, C. A. Mendoza,
K. Sundaraj
Sharp Project, INRIA Rhône-Alpes,
655 avenue de l’Europe
38330 Montbonnot Saint Martin, France
Abstract
Over the past decade there has been
considerable progress in medical imagery and surgical planning. A very important
aspect in this advancement is surgical simulation and navigation. We now have
sufficient geometrical data, physical parameters and computational speed to
embark in this domain. In the SHARP team at INRIA Rhone-Alpes, we started a few
years back to do research in the biomedical field combining applied mathematics
and informatics. Currently, we are concentrating on the development of specific
surgical simulators aimed at training surgeons for Minimum Invasive Surgery
(MIS).
In this talk, we will firstly present some current trends in the development of
medical simulators. A big challenge in this area is visual rendering, physical
realism, tactile feedback and interactiveness. With regards to this, three
important parts of a medical simulator is the physical model, the resolution
methods and real-time interactions. We will present some of the work done in
this area within our research group. An interesting part of this talk will be
the introduction of the Long Element Method (LEM) which has recently been
developed in the SHARP team to physically model human anatomy. This model is
particularly interesting for human organs that are filled with some
incompressible fluid.
Real-time interactions between virtual reality objects and human users are
necessary to ensure interactiveness in the real world. In particular, a
virtual reality medical simulator may require detection and treatment of
collisions between the different virtual organs in real-time; it may also be
necessary to compute complex tasks such as haptic interactions and topology
modifications ( tearing, cutting, etc. ). These tasks are very difficult to be
performed in real-time due to the large number of primitives used for simulation
and for visual rendering. We will give an overview of how we have dealt with
these problems. Our ideas on collision detection and topology modifications for
medical simulations will be presented and finally wewill present the research
carried out in haptics within our research team.
About the Speaker
Christian Laugier is a Research Director at INRIA, Director of the Robotics project SHARP at INRIA Rhône-Alpes and responsible at INRIA for Scientific Relations with Singapore.
Dr. Christian Laugier received the M.S. and Ph.D. degrees in Computer Science from the University Joseph Fourier, Grenoble, in 1973 and 1976 respectively. He also received the "Docteur d'Etat" degree in Computer Science from the INPG in 1987. He has been involved in research in the fields of Computer Graphics and Robotics for more than 20 years. From 1974 to 1978 he worked in the field of Computer Graphics and Computer Aided Design. From 1979 to 1995 he worked at the LIFIA Laboratory (Laboratoire d'Informatique Fondamentale et d'Intelligence Artificielle), on the following topics: Geometric Modeling, Robot Programming, and Motion Planning. In 1995 he joined Inria Rhône-Alpes, and his current research interests lie in the areas of Motion Planning, Telerobotics, Intelligent Vehicles, and Virtual Reality. He has authored papers in the areas of computer graphics, geometric modeling, robot programming, motion planning, dexterous manipulation, intelligent vehicles, dynamic simulation, and haptic interfaces.
In 1997, he was awarded the "Nakamura Prize" for his contribution to the advancement of the technology on Intelligent Robots and Systems.
Dr. Christian Laugier teaches several graduate courses on Artificial Intelligence and Robotics, and he supervised more than 20 PhD theses.
In addition to his research and teaching activities, Dr. Christian Laugier participated in the start-up of four industrial companies in the fields of Robotics, Computer Vision, and Computer Graphics. He was a member of the administration boards of ITMI (from 1984 to 1987), ALEPH Technologies (from 1989 to 1990), and Getris Images (from 1998 to 2000). He also served as a Scientific Consultant for ITMI and ALEPH Technologies.
Computer Aided Medical Intervention for Urology, Colonoscopy and Orthopaedic Surgery
Louis Phee, Ng Wan Sing, Kwoh Chee Keong, John Yuen, Christopher Cheng, Yeo Seng Jin, Yang Kuangyin, Francis Seow Cheon
Abstract
Medical robotics spans the broad areas of medicine and engineering to realize intelligent devices that can be applied to clinical practice for the benefit of both surgeon and patient. Robotic technologies can improve existing clinical procedures as well as provide innovative new approaches to current clinical problems. Setting out to ease learning curve and improve outcome of minimally invasive surgeries, medical robots are becoming well accepted in the operating theatres aiding surgeons in laparoscopic, orthopaedics, urological and colorectal surgical interventions. This talk looks into the current robotic research activities being performed in CIMIL (computer integrated medical intervention laboratory). These include a) augmented reality for therapy (ART) applied to placement of the acetabular cup in total hip replacement operation, b) a urological robot for transurethral resection and biopsy of the prostate, c) an endocrawler for colonoscopy.
About the Speakers
Ng Wan Sing is the head and founder of the Computer Integrated Medical Intervention Laboratory (CIMIL) of the School of MPE, NTU which he joined in 1992 after receiving his PhD from Imperial College, London. Together with fellow investigators in CIMIL, he secured a number of research grants. These had resulted in various research activities ranging from image processing, computer visualisation to robotics, all aim at helping the surgeons to do their job better with improved outcomes. The applied research is in collaboration with several consultants in local hospitals as well as overseas research institutions such as Imperial College. His research interest is in medical robotics, computer assistance in surgery and safety of medical robots. (http://mrcas.mpe.ntu.edu.sg)
Louis Phee earned his B.Eng (Hons) and M.Eng degrees from Nanyang Technological University, Singapore in 1996 and 1999 respectively. He later obtained his PhD from Scuola Superiore Sant'Anna, Pisa, Italy in 2002 on a full scholarship from the Italian government. His research interests are medical robotics and mechatronics in surgery. Currently, Louis Phee is a research scientist at Singapore General Hospital.
Soft tissues modeling for planning in
maxillo-facial surgery
Robotics for obstetrics and digestive surgery
Yohan Payan
Abstract
This talk aims at introducing some of the works that are carried out in the Computer-Aided Group of TIMC Laboratory (Technologies for Imaging, Modeling and Cognition), France.
The first application concerns plastic and maxillo-facial surgery. A 3D biomechanical model of the human face soft tissues is presented and used to predict the consequences of bone osteotomies. Predictions provided by the model are compared with patients post-operative CT scans.
The second application deals with obstetrics and digestive surgery. The robotic devices that are developed at TIMC are presented and discussed for two clinical applications, namely digestive endoscopy and tele-echography.
About the Speaker:
Yohan Payan is member of the TIMC Laboratory (Techniques for Imaging, Modeling and Cognition), that is located in Grenoble, France. He is graduated from the Signal Processing Engineering School of Grenoble, and entered TIMC in 1997, one year after his PhD defense. He was Assistant Professor till 2002, and directed some PhD thesis centered on the modeling of living soft tissues, for pathologies such as plastic and maxillofacial surgery, orbit surgery, digestive surgery, and orthopedics. His teaching areas were multimedia, virtual reality, computer science, and biomechanics. His recent Habilitation defense gave him a position at the French CNRS, where he is know a full time researcher of TIMC.
Since 1999, Yohan Payan has participated to collaborations between France (CNRS) and Singapore (NUS), and has built a collaborative project with Associate Professor Ong Sim Heng (Laboratory for Biomedical Engineering, Faculty of Engineering, NUS) and Dr Kelvin Foong (Assistant Professor in Orthodontics, Faculty of Dentistry, NUS).
URL : http://www-timc.imag.fr/Yohan.Payan/
HUMAN ROBOTICS - developing assistive devices and
Neuroscience investigation tools
Etienne Burdet, Department of Mechanical Engineering, National University of
Singapore
Abstract
This talk will give an overview of research projects grouped around our interest
in Human-machine Interaction. We use robotic interfaces to investigate the
control of the human arm, and have been able to show how humans learn stable and
unstable tasks, and to simulate this learning and reconstruct the muscle
activity. We will apply some of these results to train microsurgery, in a
collaboration project with the university hospital (NUH) and Johns Hopkins
Singapore. I will also present interfaces we have developed to guide humans in
handling material and disabled in controlling their wheelchair.
About the Speaker
Dr Etienne BURDET obtained Masters degrees in Mathematics
(1990) and Physics (1991), and a PhD in Robotics (1996), from ETH-Zurich. He has
carried out projects in Neuroscience and Human-Machine Interaction during his postdoc in Canada and Japan. In 1999 he joined the National University of
Singapore as Assistant Professor in Mechanical Engineering, and is a founding
member of the Division of Bioengineering.
Dr Burdet does research in Robotics and Bioengineering. One research highlight
of recent years was the development of techniques for modeling dynamics, for
learning and adaptive control of parallel manipulators, and their implementation
on two-, three- and six-degrees-of-freedom manipulators. This work, in
collaboration with ETH (Zurich) and EPFL (Lausanne), Switzerland, has led to
consultancy with ABB and Panasonic. Dr. Burdet recently showed how humans
control and coordinate muscles to perform intrinsically unstable tasks (Nature
414:446-449, 2001).
Email: e.burdet@ieee.org, Fax: +65-6779-1459,
http://guppy.mpe.nus.edu.sg/~eburdet
Virtual Reality and Robotics applied to surgical planning,
training and intra-operative procedures.
Luc Soler, Alain Garcia, Didier Mutter, Joël Leroy,
Jacques Marescaux
IRCAD-EITS, 1 place de l’hôpital, 67091 Strasbourg cedex France
Abstract :
Revolutionary tools for surgical learning, planning and performing are currently being developed. Among these tools, Virtual and Augmented Reality offer new ways to look at patients, based on their actual medical images. From a CT-scan or a MRI, a 3D reconstruction of anatomical and pathological structures provides a virtual clone of the patient. This 3D reconstruction is then visualized through a user-friendly interface permitting visualization of organs in transparency, interaction on them, navigation anywhere and simulation of any kind of endoscopy (laparoscopy, fibroscopy, colonoscopy, cholangioscopy, …). These tools, that run on a simple multimedia laptop or personal computer, are useful for surgical training. They can also be used pre-operatively to plan a surgical procedure, and intra-operatively to improve, control and supervise the procedure. Our latest user-friendly interface, called Argonaute 3D, also allows for real-time collaborative work among several users from long distances thanks a simple ADSL connection. Intra-operatively, Augmented Reality offers a real-time virtual transparency of the patient by superimposing the 3D reconstruction on a video view of the patient. It allows the surgeon to exactly and precisely know the location of organs and pathologies. Additionally, robotic systems permit digitisation of surgical motions, which can subsequently allow for long-distance surgery. When combined with Virtual Reality, robotic systems may, in the future, permit partial or total automation of surgical procedures.
About the Speaker:
Alain GARCIA, born in 1968, is certified from the Faculty of Medicine of the University of Geneva since 1994 (Switzerland). He is a board certified general and laparoscopic surgeon. He has worked in several Swiss hospitals, including the University Hospital of Geneva. He is currently enrolled in a fellowship at the IRCAD/EITS (European Institute of TeleSurgery) Institute in Strasbourg, France, and he is collaborating with the editorial board of Websurg (a web-based textbook of laparoscopic surgery). His major focus of interest and current work is in New Technologies in Surgery, such as Virtual Reality and Robotics.
Probabilistic functional atlas of human subcortical structures
Wieslaw L. Nowinski1 DSc, PhD, Alim-Louis Benabid2
MD, PhD
1Institute of Bioengineering, 21 Heng Mui Keng Terrace, 119613 Singapore
2Joseph Fourier University School of Medicine, Grenoble, France
Abstract
An optimal algorithm for rapid calculation of a probabilistic functional atlas (PFA) of subcortical structures from data collected during functional neurosurgery procedures has been developed. The PFA is calculated based on combined intraoperative electrophysiology, pre- and intraoperative neuroimaging, and postoperative neurological verification. The algorithm converts the coordinates of the neurologically most effective contacts of the stimulating electrodes into probabilistic functional maps taking into account the geometry of an electrode. The PFA calculation comprises the reconstruction of the contact coordinates from two orthogonal projections, normalizing the contacts modeled as cylinders, voxelizing the contact models, calculating the atlas, and computing probability. In addition, an analytical representation of the PFA is formulated based on Gaussian modeling.
The initial PFA has been calculated from the data collected during the treatment of 274 Parkinson’s disease patients, most of them operated bilaterally (487 operated hemispheres). This PFA contains the most popular stereotactic targets, the subthalamic nucleus, globus pallidus internus, and ventral intermedius nucleus.
The PFA can be used in both neuroscience research and clinical applications. An analysis of PFA allows for studying functional properties of cerebral structures. As an example, a functional similarity and laterality study for the left and right subthalamic nucleus will be analyzed.
The PFA along with the algorithm for its rapid calculation is a core of an Internet portal for stereotactic and functional neurosurgery (available for public use from www.cerefy.com ). The portal allows for: 1) sharing the data among functional neurosurgeons, 2) calculating the PFA of target structures from neurosurgeon’s own data, optionally combined with the data from other neurosurgeons, and 3) constructing the PFA of the human and animal brains from electrophysiological data over the Internet by the neurosurgical and neuroscience communities. This portal represents a paradigm shift from manufacturer-centric to community-centric.
About the speaker
Wieslaw L. Nowinski, DSc, PhD is the director of the Biomedical Imaging Lab at the Institute of Engineering, Biopolis, Singapore. His research interests include neuroimaging, brain atlases, computer-assisted intervention, virtual reality simulation, modeling, visualization, segmentation, and registration.
He has developed nine brain atlas products used worldwide in neurosurgery, brain mapping, neuroradiology, and neuroeducation. He has co-authored three brain atlas CD-ROMs distributed by Thieme, New York-Stuttgart. Two companies have been spun off from his lab. He has filed nine patents and contributed more than 160 articles to professional journals and international conferences. He is also conferred with awards from RSNA, ECR, ASNR, and nationally.
Epidaure Project
INRIA Sophia-Antipolis, 2004 Route des Lucioles
06902 Sophia-Antipolis, France
Abstract :
In this presentation, we introduce a coupled model of the mechanical and electrical activities of the heart. The long term goal is the quantitative assessment of the cardiac function from non-invasive measurements :
1. Electrical measurements such as ECG or VCG
2. Geometrical and Physical measurements from time series of medical images such as MRI or 3D echocardiography.
Both models rely on a tetrahedral mesh of the right and left ventricles were anatomical parameters such as cardiac fiber directions have been stored. The propagation of the electrical waves model is based on the FitzHugh-Nagumo reaction-diffusion equation. Furthermore, the coupling between the mechanical and electrical models is defined through a PDE that controls the contraction of fibers depending on the electrical activation.
The physical model is based on piecewise, transversally anisotropic, linear elasticity that has been implemented with the Finite Element Method.
This work is the result of a collaborative effort with clinical centers and other INRIA research teams gathered around the ICEMA project
(http://www- rocq.inria.fr/sosso/icema2/icema2.html)
About the Speaker
Hervé Delingette is a research director in the Epidaure laboratory which is part of INRIA Sophia-Antipolis research center, located near Nice, France. He received in 1989 a Master degree and in 1994 a PhD degree from the Ecole Centrale des Arts et Manufactures de Paris, (France). From 1989 until 1992, he was a Visiting Scientist at the Robotics Institute of Carnegie Mellon University (CMU) and the Human Interface Laboratory of Nippon Telegraph and Telephone (NTT). His research interest include medical image segmentation based on deformable models, surgery simulation, biomechanics, computer graphics and robotics.
URL : http://www.inria.fr/epidaure/personnel/delingette
Research on Medical Image Processing Techniques for Assisting Clinical Diagnosis
S M Krishnan, Chan Kap Luk,
Kwoh Chee Keong, Opas Chutatape, and Lim Tuan Kay
BioMedical Engineering Research Center,
Nanyang Technological University, Singapore
Abstract
This presentation will highlight the research work carried out at Biomedical Engineering Research Center on developing automated image processing techniques for assisting clinical diagnosis, in particular, on developing efficient methods for early detection of cancer or abnormality, which is of significant interest to physicians, patients, and all persons involved in health care delivery. To assist and ease the burden of time-consuming and subjective examination and analysis of images by the doctor, computer-based intelligent processing and analysis methods are applied to images obtained during the clinical procedures. Some new techniques of processing and analysis of clinical images have been developed. The proposed methods employ techniques based on mathematical morphology, entropy-based thresholding, watershed, homogeneity index in chromatic domain, texture information, fuzzy clustering, active contour model, etc. Our work covers different image modalities, such as mammographic X-rays, endoscopic, MRI, and retina images. By using the proposed computerized medical image analysis methods, valuable references are provided to the doctor for the diagnosis of cancer and related diseases.
About the Speaker
Dr Kap Luk Chan obtained his PhD degree in Robot Vision from Imperial College of Science, Technology and Medicine, University of London, London, U.K. in 1991. He is now an associate professor in the School of Electrical and Electronic Engineering, Nanyang Technological University, Singapore. His research interests are in image analysis and computer vision, particularly in texture analysis, statistical image analysis and perceptual grouping, image and video retrieval, machine learning in computer vision, and biomedical signal and image analysis. He has also been a consultant to local and multinational companies in Singapore. He is a member of the IEEE and a member of IEE.
Medical Image Processing in the Faculty of Engineering, National University of Singapore
Sim-Heng Ong
Dept of ECE/Div of Bioengineering
National University of Singapore
Abstract
Medical image processing is an active area of research in the Faculty of Engineering, NUS. Projects have been undertaken in collaboration with the Faculties of Dentistry and Medicine, local research institutes and overseas institutions. Examples of research projects are:
3D vision analysis for orthodontics: The work that has been carried out involves developing algorithms for the analysis of 3D digitized images of dental study models. The techniques can be applied to the analysis, measurement, simulation and visualization of malocclusions and cleft palate deformities.
Next-generation video compression algorithms: This involves research into algorithms that achieve high quality digital video decoding at lower bit rates than present standard techniques. An important application area is the compression of static and dynamic volumetric medical images.
Virtual spine workstation: The primary objective of this project is to develop a surgery simulation workstation for pre- and intra-operative planning for image-guided spine procedures. This project encompasses the following areas: medical image processing (CT and MR), anatomical, physiological and bio-mechanical modeling, and 3-D visualization with haptic interfacing.
About the Speaker
*Merlion and Eiffel Tower pictures are courtesy of http://www.glenn.com.au/merlion.htm, and http://www.greatbuildings.com/buildings/Eiffel_Tower.html, respectively.
