Research in Computer-Aided Surgery

Table of Content

Abstract

The research group in Computer-Aided Surgery focuses on the combination of tracking, intraoperative imaging, and various user interface technologies to represent the information available in a sophisticated way (see also Medical Augmented Reality Group). A common software infrastucture was developed to have the flexibility of addressing various hardware components (tracking systems, C-arm, ultrasound and on the other side ensuring the robustness and security of medical applications. The group is active in labs at Klinikum rechts der Isar and Klinikum Innenstadt.

Contact Person and Group Coordination

Joerg Traub	Nassir Navab

Research Projects in Computer-Aided Surgery

ARAV Augmented Reality Aided Vertebroplasty In today’s ORs more and more operations are performed employing minimally invasive procedures. Surgical instruments are inserted through a tiny cut on the patient’s skin, the port to the inside of the patient. In some cases endoscope cameras record video images of the operation site that are presented on a monitor. As a consequence of this technique, the surgeon’s field of view is divided into several work spaces, the monitor, the patient and information of medical imaging data presented on a third station. The missing direct view on the workspace complicates intuitive control of surgical tools. In contrast to open surgery the physician has to collect information from several fields of view at the same time and fuse information mentally to create a complete model of his working space, the operation site. The minimally invasive intervention vertebroplasty was determined as a suitable medical application to bring an Head Mounted Display (HMD) into the OR for augmentation of surgical instruments and medical imaging data. In-situ visualization with an HMD presents all available imaging data and navigational information in one field of view. The objective of vertebroplasty is the insertion of cement into weak and brittle vertebrae through a trocar for stabilization. In this case the view on the inside of the patient is not provided by an endoscope camera. However, since the operation is performed under a CT scanner, imaging data is permanently updated to check position of the trocar and amount of inserted cement. Imaging data is presented on a monitor and has to be mapped mentally by the surgeon on the real operation site.

Virtual Mirror: Interaction Paradigm for Augmented Reality Applications Augmented Reality offers a higher degree of freedom for the programmer than classical visualization of volume data on a screen. The existing paradigms for interaction with 3D objects are not satisfactory for particular applications since the majority of them rotate and move the object of interest. The classic manipulation of virtual objects cannot be used while keeping real and virtual spaces in alignment within an AR environment. This project introduces a simple and efficient interaction paradigm allowing the users to interact with 3D objects and visualize them from arbitrary viewpoints without disturbing the in-situ visualization, or requiring the user to change the viewpoint. We present a virtual, tangible mirror as a new paradigm for interaction with 3D models. The concept borrows its visualization paradigm in some sense from methodology used by dentists to examine the oral cavity without constantly changing their own viewpoint or moving the patients head. The virtual mirror improves the understanding of complex structures, enables completely new concepts to support navigational aid for different tasks and provides the user with intuitive views on physically restricted areas.

Improving Depth Perception and Perception of Layout for In-Situ Visualization in Medical Augmented Reality In-situ visualization in medical augmented reality (AR) using for instance a video see-through head mounted display (HMD) and an optical tracking system enables the stereoscopic view on visualized CT data registered with the real anatomy of a patient. Data can aligned with the required accuracy and the surgeons do not have to analyze data on an external monitor or images attached to the wall somewhere in the operating room. Thanks to a medical AR system like mentioned before, surgeons get a direct view onto and also ”into” the patient. Mental registration of medical imagery with the operation site is not necessary anymore. In addition surgical instruments can be augmented inside the human body. Bringing medical imagery and surgical instruments in the same field of action provides the most intuitive way to understand the patient’s anatomy within the region of interest and allows for the development of completely new generations of surgical navigation systems. Unfortunately, this method of presenting medical data suffers from a serious lack. Virtual imagery, such as a volume rendered spinal column, can only be displayed superimposed on real objects. If virtual entities of the scene are expected behind real ones, like the virtual spinal column beneath the real skin surface, this problem implicates incorrect perception of the viewed objects respective their distance to the observer. The strong visual depth cue interposition is responsible for misleading depth perception. This project aims at the development and evaluation of methods to improve depth perception for in-situ visualization in medical AR. Its intention is to provide an extended view onto the human body that allows an intuitive localization of visualized bones and tissue.

Intra-operative Human Computer Interaction and Usability Evaluations Computerized medical systems play a vital role in the operating room, yet surgeons often face challenges when interacting with these systems during surgery. In this project we are aiming at analyzing and understanding the Operating Room specific aspects which affect the end user experience. Beside operating room specific usability evaluation approaches in this project we also try to improve the preliminary intra-operative user interaction methodologies.

Navigated Bronchoscopy A common task during broncoscopy procedures is to biopsy peripheral lung tumors. The video bronchoscope is not capable to reach the peripheral lung nodes, but only the biopsy needle. Thus there is no video feedback, but only feedback of the current location of the biopsy tool by fluoroscopy imaging during the intervention. This exposes patient and surgical staff to additional radiation. Another drawback is that tumors can not be visualized on the fluoroscope images and they are only a projection, thus do not report the three dimensional position of the biopsy tool. Electromagnetic tracking is capable of tracking the tip of flexible instrument. A field generator with three orthogonal coils introduces current and thus generates a magnetic field. A sensor composed also of three orthogonal coils is capable to estimate its position and orientation with respect to a coordinate system defined by the field generator. Currently we investigate the combination of all available information for navigation and solutions to represent it in one unified user interface. This includes the measurements of the electromagnetic tracking system, the c-arm, techniques of virtual bronchoscopy, and other data. Furthermore, clinical evaluation is conducted. We define the clinical endpoint and show through studies that the procedure will benefit from the usage of the navigation system.

MeTaTop A Multi Sensory Table Top System for Medical Procedures A tabletop system in medical environments can be used for interactive and collaborative analysis of patient data but also as a multimedia user interface within sterile space. For preoperative planning physicians in charge with a particular patient meet to discuss the medical case and plan further steps for therapy. For this reason, they could collaboratively view and browse through all kind of available medical imaging data with the tabletop system. Alternatively such a system could be a central interaction device for all kind of equippment within the OR requiring user input, however, can not be operated by the sterile surgeon. We believe that the projection of all kind of user and information interfaces on a sterile glass plane would facilitate the clinical workflow. This project is strongly related to the Tangible Interaction Surface for Collaboration between Humans project.

Endovascular Stenting of Aortic Aneurysms Endovascular stenting is a minimally invasive treatment technique for aortic aneurysms or dissections. Thereby, a certain aortic prosthesis (stent graft) is placed inside the aortic aneurysm in order to prevent a life-threatening rupture of the aortic wall. Prior to the intervention, a computed tomography angiography (CTA) is acquired on which the surgical staff can measure the parameter of the desired stent graft and finalize the intervention workflow. The entire interventional catheter navigation is done under 2D angiography imaging where the physician is missing the important 3D information. The purpose of our project is two-fold: 1. In the planning phase, a modified graph cuts algorithm automatically segments the aorta and aneurysm, so the surgical staff can choose an appropriate type of stent to match the segmented location, length, and diameter of the aneurysm and aorta. By visualizing the defined stent graft next to the three-dimensionally reconstructed aneurysm, mismeasurements can be detected in an early stage. Our main goal is the creation of an interactive simulation system that predicts the behaviour of the aortic wall and the movement of the implanted stent graft. 2. During implantation of the stent graft, after an intensity based registration of CTA and angiography data, the current navigation can be visualized in the 3D CT data set at any time. This includes solutions for electro-magnetic tracking of catheters as well as guide wires and stent grafts. Eventually, Our main goal is the creation of solutions that enable the surgeon to enhance the accuracy of the navigation and positioning, along with a minimum use of angiography, leading to less radiation exposure and less contrast agent injection.

Real-time fusion of ultrasound and gamma probe for navigated localization of malignancy Intra-operative localization of non-superficial cancerous lesions in non-hollow organs like liver, kidney, etc is currently facilitated by intra-operative ultrasound (IOUS) and palpation. This yields a high rate of false positives due to benign abnormal regions and thus unnecessary resections with increased complications and morbidity. In this project we integrate functional nuclear information from gamma probes with IOUS, to provide a synchronized, real-time visualization that facilitates the detection of active tumors and metastases intra-operatively. The bet of this project is that the inclusion of an advanced, augmented visualization provides more reliability and confidence on classifying lesions prior to the resection.

Freehand SPECT for Sentinel Lymph Node Localization Nuclear medicine imaging modalities assist commonly in surgical guidance given their functional nature. However, when used in the operating room they present limitations. Pre-operative tomographic 3D imaging can only serve as a vague guidance intra-operatively, due to movement, deformation and changes in anatomy since the time of imaging, while standard intra-operative nuclear measurements are limited to 1D or (in some cases) 2D images with no depth information. To resolve this problem we propose the synchronized acquisition of position, orientation and readings of gamma probes intra-operatively to reconstruct a 3D activity volume. In contrast to conventional emission tomography, here, in a first proof-of-concept, the reconstruction succeeds without requiring symmetry in the positions and angles of acquisition, which allows greater flexibility and thus opens doors towards 3D intra-operative nuclear imaging.

Camera Augmented Mobile C-arm Mobile C-arms are an everyday tool to acquire X-ray images in the operating room during surgery. The Camera Augmented Mobile C-arm (CamC) system augments a regular mobile C-arm by a video camera for X-ray and video image overlay. Thanks to the mirror construction and one time calibration of the device, the acquired X-ray images are co-registered with the video images without any further calibration or registration during the intervention. The CamC system can support a wide range of potential clinical applications, such as needle guidance, interlocking of intramedullary nails, and pedicle screw placement.

3D user interfaces for medical interventions This work group aims at practical user interfaces for 3D imaging data in surgery and medical interventions. The usual monitor based visualization and mouse based interaction with 3D data will not present acceptable solutions. Here we study the use of head mounted displays and advanced interaction techniques as alternative solutions. Different issues such as depth perception in augmented reality environment and optimal data representation for a smooth and efficient integration into the surgical workflow are the focus of our research activities. Furthermore appropriate ways of interaction within the surgical environment are investigated.

Magneto-Optic Tracking of a Flexible Laparoscopic Ultrasound Transducer In abdominal surgery, a laparoscopic ultrasound transducer is commonly used to detect lesions such as metastases. The determination and visualization of position and orientation of its flexible tip in relation to the patient or other surgical instruments can be of much help to (novice) surgeons utilizing the transducer intraoperatively. This difficult subject has recently been paid attention to by the scientific community. Electromagnetic tracking systems can be applied to track the flexible tip. However, the magnetic field can be distorted by ferromagnetic material. We present a new method based on optical tracking of the laparoscope and magneto-optic tracking of the transducer, which is able to automatically detect and correct field distortions. This is used for a smooth augmentation of the B-scan images of the transducer directly on the camera images in real time.

Laparoscope Augmentation for Minimally Invasive Liver Resection In recent years, an increasing number of liver tumor indications were treated by minimally invasive laparoscopic resection. Besides the restricted view, a major issue in laparoscopic liver resection is the precise localization of the vessels to be divided. To navigate the surgeon to these vessels, pre-operative imaging data can hardly be used due to intra-operative organ deformations caused by appliance of carbon dioxide pneumoperitoneum and respiratory motion. Therefore, we propose to use an optically tracked mobile C-arm providing cone-beam computed tomography imaging capability intra-operatively. After patient positioning, port placement, and carbon dioxide insufflation, the liver vessels are contrasted and a 3D volume is reconstructed during patient exhalation. Without any further need for patient registration, the volume can be directly augmented on the live laparoscope video. This augmentation provides the surgeon with essential aid in the localization of veins, arteries, and bile ducts to be divided or sealed. Current research focuses on the intra-operative use and tracking of mobile C-arms as well as laparoscopic ultrasound, augmented visualization on the laparoscope's view, and methods to synchronize respiratory motion.

Port Placement in Minimally Invasive Endoscopic Surgery Optimal port placement is a delicate issue in minimally invasive endoscopic surgery. A good choice of the instruments' and endoscope's ports can avoid time-consuming consecutive new port placement. We present a novel method to intuitively and precisely plan the port placement. The patient is registered to its pre-operative CT by just moving the endoscope around fiducials, which are attached to the patient's thorax and are visible in its CT. Their 3D positions are automatically reconstructed. Without prior time-consuming segmentation, the pre-operative CT volume is directly rendered with respect to the endoscope or instruments. This enables the simulation of a camera flight through the patient's interior along the instruments' axes to easily validate possible ports.

Intra-operative Beta Probe Surface Imaging and Navigation for Optimal Tumor Resection In minimally invasive tumor resection, the goal is to perform a minimal but complete removal of cancerous cells. In the last decades interventional beta probes supported the detection of remaining tumor cells. However, scanning the patient with an intraoperative probe and applying the treatment are not done simultaneously. The main contribution of this work is to extend the one dimensional signal of a nuclear probe to a four dimensional signal including the spatial information of the distal end of the probe. This signal can be then used to guide the surgeon in the resection of residual tissue and thus increase its spatial accuracy while allowing minimal impact on the patient.

Related Publications

2012
	T. Reichl, I. Gergel, M. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab New methods for tracking error compensation in transbronchial interventions To appear at Proceedings of Computer Assisted Radiology and Surgery (CARS 2012), Pisa, Italy, June 2012 (bib)
	T. Reichl, I. Gergel, M. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab Motion compensation for bronchoscope navigation using electromagnetic tracking, airway segmentation, and image similarity To appear at Proceedings of Bildverarbeitung fuer die Medizin (BVM 2012), Berlin, Germany, March 2012 (bib)
	T. Reichl, I. Gergel, M. Menzel, H. Hautmann, I. Wegner, H.P. Meinzer, N. Navab Real-time motion compensation for EM bronchoscope tracking with smooth output - ex-vivo validation SPIE Medical Imaging, San Diego, California, USA, February 2012. (bib)
	M. Feuerstein, B. Glocker, T. Kitasaka, Y. Nakamura, S. Iwano, K. Mori Mediastinal Atlas Creation from 3-D Chest Computed Tomography Images: Application to Automated Detection and Station Mapping of Lymph Nodes Medical Image Analysis, vol. 16, no. 1, pp. 63-74, January 2012. The original publication is available online at www.elsevier.com (bib)
	L. Wang, P. Fallavollita, R. Zou, X. Chen, S. Weidert, N. Navab Closed-form inverse kinematics for interventional C-arm X-ray imaging with six degrees of freedom: modeling and application IEEE Transactions on Medical Imaging (to appear). (bib)
2011
	M. Wieczorek, A. Aichert, P. Fallavollita, O. Kutter, A. Ahmadi, L. Wang, N. Navab Interactive 3D visualization of a single-view X-Ray image Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011), Toronto, Canada, September 2011. (bib)
	T. Reichl, X. Luo, M. Menzel, H. Hautmann, K. Mori, N. Navab Deformable Registration of Bronchoscopic Video Sequences to CT Volumes with Guaranteed Smooth Output Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2011), Toronto, Canada, September 2011. (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, K. Mori Robust Bronchoscope Motion Tracking Using Sequential Monte Carlo Methods in Navigated Bronchoscopy: Dynamic Phantom and Patient Validation International Journal of Computer Assisted Radiology and Surgery. (bib)
	K. Mori, T. Kugo, X. Luo, P. Dressel, T. Reichl, M. Feuerstein, N. Navab, T. Kitasaka Endobronchial ultrasound endoscope navigation system based on CT-US calibration Computer Assisted Radiology and Surgery, Berlin, Germany, June 2011 (bib)
	S. Weidert, L. Wang, P. Thaller, J. Landes, A. Brand, N. Navab, E. Euler X-ray Stitching for Intra-operative Mechanical Axis Determination of the Lower Extremity the 11th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, London, UK, June 15-19 2011 (bib)
	D. Deguchi, M. Feuerstein, T. Kitasaka, Y. Suenaga, I. Ide, H. Murase, K. Imaizumi, Y. Hasegawa, K. Mori Real-time marker-free patient registration for electromagnetic navigated bronchoscopy : a phantom study International Journal of Computer Assisted Radiology and Surgery. The original publication is available online at www.springerlink.com (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, K. Mori On scale invariant features and sequential Monte Carlo sampling for bronchoscope tracking SPIE Medical Imaging, Orlando, Florida, USA, February 2011 (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, K. Mori A novel bronchoscope tracking method for bronchoscopic navigation using a low cost optical mouse sensor SPIE Medical Imaging, Orlando, Florida, USA, February 2011 (bib)
	L. Wang, R. Zou, S. Weidert, J. Landes, E. Euler, D. Burschka, N. Navab Closed-form inverse kinematics for intra-operative mobile C-arm positioning with six degrees of freedom SPIE Medical Imaging, Lake Buena Vista (Orlando), Florida, USA, February 2011 (bib)
2010
	C. Bichlmeier Immersive, Interactive and Contextual In-Situ Visualization for Medical Applications Dissertation an der Fakultät für Informatik, Technische Universität München, 2010 ( online version available here) (bib)
	X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, T. Hirotsugu, K. Mori Development and Comparison of New Hybrid Motion Tracking for Bronchoscopic Navigation Medical Image Analysis. Special issue on Computer Assisted Interventions. Accepted for publication, 17 November 2010. (bib)
	X. Luo, T. Reichl, M. Feuerstein, T. Kitasaka, K. Mori Modified Hybrid Bronchoscope Tracking Based on Sequential Monte Carlo Sampler: Dynamic Phantom Validation Asian Conference on Computer Vision, Queenstown, New Zealand, November 2010 (bib)
	C. Bichlmeier, E. Euler, T. Blum, N. Navab Evaluation of the Virtual Mirror as a Navigational Aid for Augmented Reality Driven Minimally Invasive Procedures The 9th IEEE and ACM International Symposium on Mixed and Augmented Reality, Seoul, Korea, Oct. 13 - 16, 2010. The original publication is available online at ieee.org. (bib)
	T. Kitasaka, H. Yano, M. Feuerstein, K. Mori Bronchial region extraction from 3D chest CT image by voxel classification based on local intensity structure Third International Workshop on Pulmonary Image Analysis, September 2010 (bib)
	X. Luo, M. Feuerstein, T. Reichl, T. Kitasaka, K. Mori An Application Driven Comparison of Several Feature Extraction Algorithms in Bronchoscope Tracking During Navigated Bronchoscopy 5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
	M. Feuerstein, T. Sugiura, D. Deguchi, T. Reichl, T. Kitasaka, K. Mori Marker-free Registration for Electromagnetic Navigation Bronchoscopy under Respiratory Motion 5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
	P. Dressel, M. Feuerstein, T. Reichl, T. Kitasaka, N. Navab, K. Mori Direct Co-Calibration of Endobronchial Ultrasound and Video 5th International Workshop on Medical Imaging and Augmented Reality, Sep 2010, Beijing (bib)
	L. Wang, R. Zou, S. Weidert, J. Landes, E. Euler, D. Burschka, N. Navab Modeling Kinematics of Mobile C-arm and Operating Table as an Integrated Six Degrees of Freedom Imaging System The 5th International Workshop on Medical Imaging and Augmented Reality, MIAR 2010, Beijing, China, September 19-20, 2010 (bib)
	F. Manstad-Hulaas, G. A. Tangen, S. Demirci, M. Pfister, S. Lydersen, T. A. Nagelhus Hernes Endovascular Image-Guided Navigation - Validation of Two Volume-Volume Registration Algorithms Minimally Invasive Therapy & Allied Technologies 20(5), pp. 282 - 289, 2011 (bib)
	A. Ahmadi, F. Pisana, E. DeMomi?, N. Navab, G. Ferrigno User friendly graphical user interface for workflow management during navigated robotic-assisted keyhole neurosurgery Computer Assisted Radiology (CARS), 24th International Congress and Exhibition, Geneva, CH, June 2010 (bib)
	L. Wang, J. Traub, S. Weidert, S.M. Heining, E. Euler, N. Navab Parallax-Free Intra-Operative X-ray Image Stitching the MICCAI 2009 special issue of the Journal Medical Image Analysis (bib)
	L. Wang, J. Landes, S. Weidert, T. Blum, A. von der Heide, E. Euler, N. Navab First Animal Cadaver Study for Interlocking of Intramedullary Nails under Camera Augmented Mobile C-arm A Surgical Workflow Based Preclinical Evaluation the 1st International Conference on Information Processing in Computer-Assisted Interventions (IPCAI), Switzerland, June 23 2010. The original publication is available online at www.springerlink.com. (bib)
	S. Weidert, L. Wang, J. Landes, A. von der Heide, N. Navab, E. Euler First Surgical Procedures under Camera-Augmented Mobile C-arm (CamC) guidance The 3rd Hamlyn Symposium for Medical Robotics ,London, UK, May 25 2010 (bib)
	T. Reichl, O. Kutter, Benedikt Schultis, M. Menzel, H. Hautmann, N. Navab Video-basiertes Tracking eines Bronchoskops Proceedings of Bildverarbeitung fuer die Medizin (BVM 2010), Aachen, Germany, March 2009 (bib)
	P. Wucherer, C. Bichlmeier, M. Eder, L. Kovacs, N. Navab Multimodal Medical Consultation for Improved Patient Education Proceedings of Bildverarbeitung fuer die Medizin (BVM 2010), Aachen, Germany, March 2010 (bib)
	M. Wieczorek, A. Aichert, O. Kutter, C. Bichlmeier, J. Landes, S.M. Heining, E. Euler, N. Navab GPU-accelerated Rendering for Medical Augmented Reality in Minimally-Invasive Procedures Proceedings of Bildverarbeitung fuer die Medizin (BVM 2010), Aachen, Germany, March 14-16 2010 (bib)
	X. Luo, M. Feuerstein, T. Sugiura, T. Kitasaka, K. Mori, K. Imaizumi, Y. Hasegawa Towards hybrid bronchoscope tracking under respiratory motion: evaluation on a dynamic motion phantom SPIE Medical Imaging, San Diego, California, USA, February 2010 (bib)
	M. Feuerstein, T. Kitasaka, K. Mori Adaptive Model Based Pulmonary Artery Segmentation in 3D Chest CT SPIE Medical Imaging, San Diego, California, USA, February 2010 (bib)
	P. Dressel, L. Wang, O. Kutter, J. Traub, S.M. Heining, N. Navab Intraoperative positioning of mobile C-arms using artificial fluoroscopy SPIE Medical Imaging, San Diego, California, USA, February 2010 (bib)
	T. Sugiura, M. Feuerstein, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori A study on a breathing motion compensation for bronchoscope tracking based on bronchial tree structure information IEICE Medical Imaging, Naha, Japan, January 2010 (bib)
	P. Dressel Calibration of Endobronchial Ultrasound Diploma Thesis. Technische Universität München, January 2010 (bib)
2009
	H. Yano, M. Feuerstein, T. Kitasaka, K. Mori Study on bronchus region extraction from 3D chest CT images using local intensity structure analysis 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	T. Kugo, M. Feuerstein, T. Kitasaka, K. Mori A study on construction of respiratory lung motion model for bronchoscope guidance system 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	C. Bichlmeier, S.M. Heining, L. Omary, P. Stefan, B. Ockert, E. Euler, N. Navab MeTaTop: A Multi-Sensory and Multi-User Interface for Collaborative Analysis of Medical Imaging Data Interactive Demo (ITS 2009), Banff, Canada, November 2009 (bib)
	T. Sugiura, M. Feuerstein, T. Kitasaka, K. Imaizumi, Y. Hasegawa, K. Mori A study on a method for bronchoscope tracking considering breathing motion by using bronchial structure 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	X. Luo, M. Feuerstein, T. Kitasaka, M. Mori, H. Takabatake, H. Natori, K. Imaizumi, Y. Hasegawa, K. Mori Improvement of Bronchoscope Tracking by Combining SURF Features Based Camera Motion Estimation and Image Registration 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	C. Bichlmeier, S. Holdstock, S.M. Heining, S. Weidert, E. Euler, O. Kutter, N. Navab Contextual In-Situ Visualization for Port Placement in Keyhole Surgery: Evaluation of Three Target Applications by Two Surgeons and Eighteen Medical Trainees The 8th IEEE and ACM International Symposium on Mixed and Augmented Reality, Orlando, US, Oct. 19 - 22, 2009. (bib)
	C. Bichlmeier, M. Kipot, S. Holdstock, S.M. Heining, E. Euler, N. Navab A Practical Approach for Intraoperative Contextual In-Situ Visualization International Workshop on Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI-ARCS 2009), London, UK, September 2009 (bib)
	M. Feuerstein, T. Kitasaka, K. Mori Automated Anatomical Likelihood Driven Extraction and Branching Detection of Aortic Arch in 3-D Chest CT Second International Workshop on Pulmonary Image Analysis, September 2009 (bib)
	M. Feuerstein, T. Kitasaka, K. Mori Adaptive Branch Tracing and Image Sharpening for Airway Tree Extraction in 3-D Chest CT Second International Workshop on Pulmonary Image Analysis, September 2009 (bib)
	C. Bichlmeier, S.M. Heining, M. Feuerstein, N. Navab The Virtual Mirror: A New Interaction Paradigm for Augmented Reality Environments IEEE Trans. Med. Imag., vol. 28, no. 9, pp. 1498-1510, September 2009 (bib)
	L. Wang, J. Traub, S. Weidert, S.M. Heining, E. Euler, N. Navab Parallax-free Long Bone X-ray Image Stitching Medical Image Computing and Computer-Assisted Intervention (MICCAI), London, UK, September 20-24 2009 (bib)
	H. Yano, D. Deguchi, M. Feuerstein, K. Mori, T. Kitasaka, Y. Suenaga Study on bronchus region extraction from 3D chest CT images based on analysis of local intensity value distribution 28th Meeting of the Japanese Society of Medical Imaging Technology, Nagoya, Japan, August 2009 (bib)
	X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori SIFT Feature-based Motion Estimation for Bronchoscope Tracking 28th Meeting of the Japanese Society of Medical Imaging Technology, Nagoya, Japan, August 2009 (bib)
	T. Kugo, M. Feuerstein, K. Mori, T. Kitasaka, Y. Suenaga, Y. Hasegawa, K. Imaizumi, S. Iwano A preliminary study on making respiratory motion model for bronchoscope guidance system 28th Meeting of the Japanese Society of Medical Imaging Technology, Nagoya, Japan, August 2009 (bib)
	D. Deguchi, K. Mori, M. Feuerstein, T. Kitasaka, C. R. Maurer, Jr., Y. Suenaga, H. Takabatake, M. Mori, H. Natori Selective image similarity measure for bronchoscope tracking based on image registration Medical Image Analysis, vol. 13, no. 4, pp. 621-633, August 2009 (bib)
	H. Yano, M. Feuerstein, T. Kitasaka, K. Mori Study on bronchus region extraction from 3D chest CT images using local intensity structure analysis and CT value distribution features Medical Imaging Workshop of the Institute of Electronics, Information and Communication Engineers, Tokyo, Japan, July 2009 (bib)
	A. Ahmadi, T. Klein, N. Navab Advanced Planning and Ultrasound Guidance for Keyhole Neurosurgery in ROBOCAST Russian Bavarian Conference (RBC), Munich, GER, July 2009 (bib)
	A. Ahmadi, T. Klein, N. Navab, R. Roth, R.R. Shamir, L. Joskowicz, E. DeMomi?, G. Ferrigno, L. Antiga, R.I. Foroni Advanced Planning and Intra-operative Validation for Robot-Assisted Keyhole Neurosurgery In ROBOCAST International Conference on Advanced Robotics (ICAR), Munich, GER, June 2009 (bib)
	B. Ockert, C. Bichlmeier, S.M. Heining, O. Kutter, N. Navab, E. Euler Development of an Augmented Reality (AR) training environment for orthopedic surgery procedures Proceedings of The 9th Computer Assisted Orthopaedic Surgery (CAOS 2009), Boston, USA, June, 2009 (bib)
	M. Feuerstein, T. Reichl, J. Vogel, J. Traub, N. Navab Magneto-Optical Tracking of Flexible Laparoscopic Ultrasound: Model-Based Online Detection and Correction of Magnetic Tracking Errors IEEE Trans. Med. Imag., vol. 28, no. 6, pp. 951-967, June 2009 (bib)
	N. Navab, S.M. Heining, J. Traub Camera Augmented Mobile C-arm (CAMC): Calibration, Accuracy Study and Clinical Applications IEEE Trans. Med. Imag., to appear (bib)
	L. Wang, J. Traub, S.M. Heining, S. Benhimane, R. Graumann, E. Euler, N. Navab Long Bone X-ray Image Stitching using C-arm Motion Estimation Proceedings of Bildverarbeitung fuer die Medizin (BVM 2009), Heidelberg, Germany, March 22-24 2009 (bib)
	L. Wang, S. Weidert, J. Traub, S.M. Heining, C. Riquarts, E. Euler, N. Navab Camera Augmented Mobile C-arm: Towards Real Patient Study Proceedings of Bildverarbeitung fuer die Medizin (BVM 2009), Heidelberg, Germany, March 22-24 2009 (bib)
	M. Feuerstein, D. Deguchi, T. Kitasaka, S. Iwano, K. Imaizumi, Y. Hasegawa, Y. Suenaga, K. Mori Automatic Mediastinal Lymph Node Detection in Chest CT SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
	Z. Jiang, K. Mori, Y. Nimura, M. Feuerstein, T. Kitasaka, Y. Suenaga, Y. Hayashi, E. Ito, M. Fujii, T. Nagatani, Y. Kajita, T. Wakabayashi, J. Yoshida An Improved Method for Compensating Ultra-tiny Electromagnetic Tracker Utilizing Position and Orientation Information and Its Application to a Flexible Neuroendoscopic Surgery Navigation System SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
	T. Sugiura, D. Deguchi, M. Feuerstein, T. Kitasaka, Y. Suenaga, K. Mori A method for accelerating bronchoscope tracking based on image registration by using GPU SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
2008
	C. Bichlmeier, B. Ockert, S.M. Heining, A. Ahmadi, N. Navab Stepping into the Operating Theater: ARAV - Augmented Reality Aided Vertebroplasty The 7th IEEE and ACM International Symposium on Mixed and Augmented Reality, Cambridge, UK, Sept. 15 - 18, 2008. (bib)
	J. Traub, T. Sielhorst, S.M. Heining, N. Navab Advanced Display and Visualization Concepts for Image Guided Surgery IEEE/OSA Journal of Display Technology; Special Issue on Medical Displays, Volume 4, Issue 4, Dec. 2008 (bib)
	T. Sielhorst, M. Feuerstein, N. Navab Advanced Medical Displays: A Literature Review of Augmented Reality IEEE/OSA Journal of Display Technology; Special Issue on Medical Displays, Volume 4, Issue 4, Dec. 2008 (bib)
	H. Yano, D. Deguchi, M. Feuerstein, T. Kitasaka, K. Mori, Y. Suenaga A study on bronchial area extraction from 3D chest CT images using CT value distribution features 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	T. Sugiura, D. Deguchi, M. Feuerstein, T. Kitasaka, K. Mori, Y. Suenaga, K. Imaizumi, Y. Hasegawa A study on a method for accelerating bronchoscope tracking based on image registration on GPU 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori A Study on Feature Point Extraction from Bronchoscopic Images for Bronchoscope Tracking 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	M. Feuerstein, D. Deguchi, T. Kitasaka, S. Iwano, K. Imaizumi, Y. Hasegawa, Y. Suenaga, K. Mori Automatic Detection of Mediastinal Lymph Nodes in Contrast-Enhanced Chest CT 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	O. Kutter, A. Aichert, C. Bichlmeier, J. Traub, S.M. Heining, B. Ockert, E. Euler, N. Navab Real-time Volume Rendering for High Quality Visualization in Augmented Reality International Workshop on Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI-ARCS 2008), USA, New York, September 2008 (bib)
	C. Bichlmeier, B. Ockert, O. Kutter, M. Rustaee, S.M. Heining, N. Navab The Visible Korean Human Phantom: Realistic Test & Development Environments for Medical Augmented Reality International Workshop on Augmented environments for Medical Imaging including Augmented Reality in Computer-aided Surgery (AMI-ARCS 2008), USA, New York, September 2008 (bib)
	M. Feuerstein, T. Reichl, J. Vogel, J. Traub, N. Navab New Approaches to Online Estimation of Electromagnetic Tracking Errors for Laparoscopic Ultrasonography Computer Aided Surgery, vol. 13, no. 5, pp. 311-323, September 2008 (bib)
	J. Traub, A. Ahmadi, N. Padoy, L. Wang, S.M. Heining, E. Euler, P. Jannin, N. Navab Workflow Based Assessment of the Camera Augmented Mobile C-arm System International Workshop on Augmented Reality environments for Medical Imaging and Computer-aided Surgery (AMI-ARCS 2008), New York, NY, USA, September 2008 (bib)
	L. Wang, J. Traub, S.M. Heining, S. Benhimane, R. Graumann, E. Euler, N. Navab Long Bone X-ray Image Stitching Using Camera Augmented Mobile C-arm Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2008, New York, USA, September 6-10 2008 (bib)
	F. Wimmer, C. Bichlmeier, S.M. Heining, N. Navab Creating a Vision Channel for Observing Deep-Seated Anatomy in Medical Augmented Reality Proceedings of Bildverarbeitung fuer die Medizin (BVM 2008), Munich, Germany, April 2008 (bib)
	J. Traub, S.M. Heining, E. Euler, N. Navab Two camera augmented mobile C-arm – System setup and first experiments Proceedings of The 8th Computer Assisted Orthopaedic Surgery (CAOS 2008), Hong Kong, China, June, 2008 (bib)
	S.M. Heining, C. Bichlmeier, E. Euler, N. Navab Smart Device: Virtually Extended Surgical Drill Proceedings of The 8th Computer Assisted Orthopaedic Surgery (CAOS 2008), Hong Kong, China, June, 2008 (bib)
	N. Navab, J. Traub, A. K. Buck, S. I. Ziegler, T. Wendler Navigated nuclear probes for intra-operative functional imaging Proceedings of 5th IEEE International Symposium on Biomedical Imaging (ISBI 2008), Paris, France, May 14 - 17 2008, pp. 1395-1398 (bib)
	M. Baumhauer, M. Feuerstein, H.P. Meinzer, J. Rassweiler Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations Journal of Endourology, vol. 22, no. 4, pp. 1-16, April 2008 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Intraoperative Laparoscope Augmentation for Port Placement and Resection Planning in Minimally Invasive Liver Resection IEEE Trans. Med. Imag., vol. 27, no. 3, pp. 355-369, March 2008 (bib)
	M. Feuerstein Augmented Reality in Laparoscopic Surgery - New Concepts and Methods for Intraoperative Multimodal Imaging and Hybrid Tracking in Computer Aided Surgery Book, ISBN 978-3-8364-7783-3, Vdm Verlag Dr. Müller. (bib)
2007
	C. Bichlmeier, S.M. Heining, M. Rustaee, N. Navab Laparoscopic Virtual Mirror for Understanding Vessel Structure: Evaluation Study by Twelve Surgeons The Sixth IEEE and ACM International Symposium on Mixed and Augmented Reality, Nara, Japan, Nov. 13 - 16, 2007. (bib)
	C. Bichlmeier, F. Wimmer, S.M. Heining, N. Navab Contextual Anatomic Mimesis: Hybrid In-Situ Visualization Method for Improving Multi-Sensory Depth Perception in Medical Augmented Reality The Sixth IEEE and ACM International Symposium on Mixed and Augmented Reality, Nara, Japan, Nov. 13 - 16, 2007. (bib)
	T. Wendler, M. Feuerstein, J. Traub, T. Lasser, J. Vogel, F. Daghighian, S. I. Ziegler, N. Navab Real-time fusion of ultrasound and gamma probe for navigated localization of liver metastases Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October 29 - November 2007, LNCS 4792 (2), pp. 909-917 (bib)
	T. Wendler, A. Hartl, T. Lasser, J. Traub, F. Daghighian, S. I. Ziegler, N. Navab Towards intra-operative 3D nuclear imaging: reconstruction of 3D radioactive distributions using tracked gamma probes Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October 29 - November 2 2007, LCNS 4792 (2), pp. 252-260 (bib)
	J. Traub, H. Heibel, P. Dressel, S.M. Heining, R. Graumann, N. Navab A Multi-View Opto-Xray Imaging System: Development and First Application in Trauma Surgery Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. (bib)
	T. Klein, J. Traub, H. Hautmann, A. Ahmadian, N. Navab Fiducial-Free Registration Procedure for Navigated Bronchoscopy Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007.
	M. Feuerstein, T. Reichl, J. Vogel, A. Schneider, H. Feußner, N. Navab Magneto-optic Tracking of a Flexible Laparoscopic Ultrasound Transducer for Laparoscope Augmentation Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. The original publication is available online at www.springerlink.com (bib)
	C. Bichlmeier, M. Rustaee, S.M. Heining, N. Navab Virtually Extended Surgical Drilling Device: Virtual Mirror for Navigated Spine Surgery Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. (bib)
	T. Sielhorst, M. Bauer, O. Wenisch, G. Klinker, N. Navab Online Estimation of the Target Registration Error for n-ocular Optical Tracking Systems to appear Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October 2007 (bib)
	M. Feuerstein Augmented Reality in Laparoscopic Surgery - New Concepts for Intraoperative Multimodal Imaging PhD Thesis. The original (high-resolution) publication is available online at mediatum.ub.tum.de (bib)
	N. Navab, J. Traub, T. Sielhorst, M. Feuerstein, C. Bichlmeier Action- and Workflow-Driven Augmented Reality for Computer-Aided Medical Procedures IEEE Computer Graphics and Applications, vol. 27, no. 5, pp. 10-14, Sept/Oct, 2007 (bib)
	S. Wiesner, Z. Yaniv Monitoring Patient Respiration using a Single Optical Camera Annual International Conference of the IEEE EMBS (EMBC 2007), Lyon, France, August 2007 (bib)
	T. Reichl Online Error Correction for the Tracking of Laparoscopic Ultrasound Diploma Thesis. Technische Universität München, July 2007 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Registration-free Laparoscope Superimposition for Intra-Operative Planning of Liver Resection 3rd Russian-Bavarian Conference on Biomedical Engineering, Erlangen, Germany, July 2/3 2007 (bib)
	O. Kutter, S. Kettner (=Demirci), E.U. Braun, N. Navab, R. Lange, R. Bauernschmitt Towards an Integrated Planning and Navigation System for Aortic Stent-Graft Placement Proc. of Computer Assisted Radiology and Surgery (CARS), Berlin, Germany, June 2007. (bib)
	R. Bauernschmitt, M. Feuerstein, J. Traub, E.U. Schirmbeck, G. Klinker, R. Lange Optimal port placement and enhanced guidance in robotically assisted cardiac surgery Surgical Endoscopy, Volume 21, Number 4, April 2007 (bib)
	J. Traub, S. Kaur, P. Kneschaurek, N. Navab Evaluation of Electromagnetic Error Correction Methods Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp. 363-367 (bib)
	T. Klein, S. Benhimane, J. Traub, S.M. Heining, E. Euler, N. Navab Interactive Guidance System for C-arm Repositioning without Radiation Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp. 21-25 (bib)
	O. Kishenkov, T. Wendler, J. Traub, S. I. Ziegler, N. Navab Method for projecting functional 3D information onto anatomic surfaces: Accuracy improvement for navigated 3D beta-probes Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007, pp.66-70 (bib)
	C. Bichlmeier, T. Sielhorst, S.M. Heining, N. Navab Improving Depth Perception in Medical AR: A Virtual Vision Panel to the Inside of the Patient Proceedings of Bildverarbeitung fuer die Medizin (BVM 2007), Munich, Germany, March 2007 (bib)
	C. Alcérreca, J. Vogel, M. Feuerstein, N. Navab A New Approach to Ultrasound Guided Radio-Frequency Needle Placement Bildverarbeitung für die Medizin 2007, Munich, Germany, March 2007 (bib)
	N. Navab, M. Feuerstein, C. Bichlmeier Laparoscopic Virtual Mirror - New Interaction Paradigm for Monitor Based Augmented Reality Virtual Reality, Charlotte, North Carolina, USA, March 10-14, 2007 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Registration-Free Laparoscope Augmentation for Intra-Operative Liver Resection Planning SPIE Medical Imaging, San Diego, California, USA, 17-22 February 2007 (bib)
2006
	J. Traub, J. Much, A. Schneider, F. Peltz, H. Hautmann, N. Navab User interface for electromagnetic navigated bronchoscopy 5. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2006), Hannover, Germany, September 2006 (bib)
	C. Bichlmeier, N. Navab Virtual Window for Improved Depth Perception in Medical AR International Workshop on Augmented Reality environments for Medical Imaging and Computer-aided Surgery (AMI-ARCS 2006), Copenhagen, Denmark, October 2006 (bib)
	C. Bichlmeier, T. Sielhorst, N. Navab The Tangible Virtual Mirror: New Visualization Paradigm for Navigated Surgery International Workshop on Augmented Reality environments for Medical Imaging and Computer-aided Surgery (AMI-ARCS 2006), Copenhagen, Denmark, October 2006 (bib)
	N. Navab, S. Wiesner, S. Benhimane, E. Euler, S.M. Heining Visual Servoing for Intraoperative Positioning and Repositioning of Mobile C-arms Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2006), Copenhagen, Denmark, October 2006 (bib)
	S.M. Heining, P. Stefan, L. Omary, S. Wiesner, T. Sielhorst, N. Navab, F. Sauer, E. Euler, W. Mutschler, J. Traub Evaluation of an in-situ visualization system for navigated trauma surgery Journal of Biomechanics 2006; Vol. 39 Suppl. 1, page 209 (bib)
	S.M. Heining, S. Wiesner, E. Euler, N. Navab CAMC (camera augmented mobile c-arm) - first clinical application in a cadaver study Journal of Biomechanics 2006; Vol. 39 Suppl. 1, page 210 (bib)
	M. Feuerstein, K. Filippatos, O. Kutter, E.U. Schirmbeck, R. Bauernschmitt, N. Navab A Novel Segmentation and Navigation Tool for Endovascular Stenting of Aortic Aneurysms International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 280 - 282. The original publication is available online at www.springerlink.com (bib)
	T. Sielhorst, M. Feuerstein, J. Traub, O. Kutter, N. Navab CAMPAR: A software framework guaranteeing quality for medical augmented reality International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 29 - 30. The original publication is available online at www.springerlink.com (bib)
	S.M. Heining, S. Wiesner, E. Euler, N. Navab Pedicle screw placement under video-augmented fluoroscopic control. First clinical application in a cadaver study International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 189-190. The original publication is available online at www.springerlink.com (bib)
	S.M. Heining, P. Stefan, F. Sauer, E. Euler, N. Navab, J. Traub Evaluation of an in-situ visualization system for navigated trauma surgery Proceedings of The 6th Computer Assisted Orthopaedic Surgery (CAOS 2006), Montreal, Canada, June, 2006 (bib)
	S.M. Heining, S. Wiesner, E. Euler, W. Mutschler, N. Navab Locking of intramedullary nails under video-augmented flouroscopic control: first clinical application in a cadaver study Proceedings of The 6th Computer Assisted Orthopaedic Surgery (CAOS 2006), Montreal, Canada, June, 2006 (bib)
2005
	M. Feuerstein, S.M. Wildhirt, R. Bauernschmitt, N. Navab Automatic Patient Registration for Port Placement in Minimally Invasive Endoscopic Surgery Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2005), Palm Springs, USA, October 2005. The original publication is available online at www.springerlink.com (bib)
	M. Feuerstein, N. Navab, E.U. Schirmbeck, S.M. Wildhirt, R. Lange, R. Bauernschmitt Endocsope Augmentation for Port Placement and Navigation for Rigid Anatomy 4. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2005), Berlin, Germany, September 2005 (bib)
	R. Bauernschmitt, M. Feuerstein, E.U. Schirmbeck, N. Augustin, S.M. Wildhirt, R. Lange Improvement of Endovascular Stent Grafting by Augmented Reality Biomedizinische Technik (BMT 2005), Volume 50, Supplementary vol. 1, Part 2, pp. 1262 - 1263, Nuremberg, Germany, September 2005 (bib)
2004
	R. Bauernschmitt, M. Feuerstein, E.U. Schirmbeck, J. Traub, G. Klinker, S.M. Wildhirt, R. Lange Improved Preoperative Planning in Robotic Heart Surgery IEEE Proceedings of Computers in Cardiology (CinC 2004), pp. 773 - 776, Chicago, USA, September 2004 (bib)
	J. Traub, M. Feuerstein, M. Bauer, E.U. Schirmbeck, H. Najafi, R. Bauernschmitt, G. Klinker Augmented Reality for Port Placement and Navigation in Robotically Assisted Minimally Invasive Cardiovascular Surgery Proceedings of Computer Assisted Radiology and Surgery (CARS 2004), pp. 735 - 740, Chicago, USA, June 2004 (bib)
	R. Bauernschmitt, E.U. Schirmbeck, M. Groher, P. Keitler, M. Bauer, H. Najafi, G. Klinker, R. Lange Navigierte Platzierung endovaskulärer Aortenstents Z Kardiologie 2004 93 S3: 116 (bib)

Working Group

Stefanie Demirci

Alexander Hartl

Tobias Lasser

Philipp Matthies

Tobias Reichl

Dzhoshkun Ismail Shakir

Lejing Wang