TY - JOUR A1 - Kurzendorfer, Tanja A1 - Girard, Erin A1 - Gralewski, Kevin A1 - Kleinoeder, Andreas A1 - Kiraly, Atilla P A1 - Strobel, Norbert A1 - Dori, Yoav T1 - New biplane x-ray magnetic resonance image fusion prototype for 3D enhanced cardiac catheterization in congenital heart diseases JF - Journal of Cardiovascular Magnetic Resonance N2 - Background X-ray magnetic resonance fusion (XMRF) is used to enhance fluoroscopically guided catheterization procedures. We present a new method for biplane XMRF involving an augmented fluoroscopy prototype (Siemens, Forchheim, Germany). With this software it is possible to register 3D MRI data to biplane X-ray projections based on internal markers, without the need for a C-arm CT to perform 3D/3D registration. The software supports overlaying volume rendered data as well as multiple surface models. Visualization techniques, such as contour or solid rendering and surface carving are supported to allow for clear presentation of complex 3D structures. Methods We reviewed data obtained with different visualization methods on 20 patients that underwent clinical XMRF procedures. Surface models were generated by threshold based segmentation from high resolution MRA (syngo Twist or Navigator gated 3D flash IR sequence) of structures of interest using Mimics (Leuven, Belgium). Initial registration was achieved through planar alignment of the volume in anterior-posterior (AP) and lateral projections matching anatomical landmarks, such as the heart and vessel borders. In addition, the registration accuracy of the prototype was assessed using a phantom by measuring the maximum distance between a single point and the 3D model boundaries in comparison to the boundaries seen on fluoroscopy. Results The maximum segmentation time was 10 min and the initial registration required less than 30 sec. Registration was performed without the need for contrast injection or additional radiation exposure. The registration error based on phantom measurements was 2.2 ± 1.1 mm in the AP projection and 1.36 ± 0.7 mm in the lateral projection. For surface rendered data, solid rendering with carving provided the optimal display of complex 3D data. In contrast to volume rendering, solid surface rendering provides delineation of the 3D relation between objects and clear visualization of internal structures such as ostia of the vessels and muscle bundles using the carving feature, see Figure 1. Contour rendering offered reasonable visualization for smooth, uncomplicated structures like the atria, but it was not ideal for complex overlapping structures due to missing 3D depth information. When multiple surfaces are loaded, contour rendering was, however, found to be useful in combination with solid rendered structures to provide a see-through 3D relation between multiple structures Conclusions The prototype demonstrated a high level of accuracy for fluoroscopic overlays. Biplane internal marker based registration can be performed quickly, without the need for additional radiation or contrast. We found solid rendering of surface models in combination with carving techniques to be most useful for visualization. This new biplane XMRF technique has the potential to provide enhanced guidance under fluoroscopy by integrating 3D information and to reduce radiation during complicated catheterization procedures. Funding This project is funded by a research grant from Siemens, AG, Healthcare, Forchheim, Germany. The concepts and information presented in this paper are based on research and are not commercially available. Y1 - 2014 U6 - https://doi.org/10.1186/1532-429X-16-S1-O103 VL - 16 IS - Supplement 1 ER - TY - JOUR A1 - Koch, Martin W. A1 - Brost, Alexander A1 - Bourier, Felix A1 - Hornegger, Joachim A1 - Strobel, Norbert T1 - Automatic planning of atrial fibrillation ablation lines using landmark-constrained nonrigid registration JF - Journal of Medical Imaging N2 - Catheter ablation is a common treatment option for drug-refractory atrial fibrillation. In many cases, pulmonary vein isolation is the treatment of choice. With current fluoro overlay methods or electroanatomic mapping systems, it is possible to visualize three-dimensional (3-D) anatomy as well as target ablation lines to provide additional context information. Today, however, these lines need to be set manually before the procedure by the physician, which may interrupt the clinical workflow. As a solution, we present an automatic approach for the planning of ablation target lines. Our method works on surface models extracted from 3-D images. To propose suitable ablation lines, a reference model annotated with reference ablation lines is nonrigidly registered to the model segmented from a new patient’s 3-D data. After registration, the reference plan is transferred from the reference anatomy to the individual patient anatomy. Due to the high anatomical variations observed in clinical practice, additional landmark constraints are employed in the registration process to increase the robustness of our approach. We evaluated our method on 43 clinical datasets by benchmarking it against professionally planned ablation lines and achieved an average error over all datasets of 2.7±2.0  mm . A qualitative evaluation of the ablation planning lines matched clinical expectations. Y1 - 2014 U6 - https://doi.org/10.1117/1.JMI.1.1.015002 VL - 1 IS - 1 ER - TY - GEN A1 - Wu, W. A1 - Chen, T. A1 - Strobel, Norbert A1 - Comaniciu, D. T1 - Method and system for ablation catheter and circumferential mapping catheter tracking in fluoroscopic images (Patent, US 9,002,436) Y1 - 2015 ER - TY - GEN A1 - Barbot, Julien Christian A1 - Kiraly, Atilla Peter A1 - Strobel, Norbert T1 - Localization and tracking of cryo-balloon during interventional fluoroscopy imaging (Patent, US 8989463B2) N2 - A method for the detection of a balloon catheter within a fluoroscopic image, including: removing noise from a fluoroscopic image; detecting edges of a balloon catheter in the fluoroscopic image, wherein the detected edges include subsets of connected edges; extracting an edge subset from the subsets of connected edges; fitting a model to the extracted edge subset; removing outliers of the extracted edge subset based on the fitting of the model; adding the extracted edge subset without the outlier to a data set; repeating the extracting, fitting, removing and adding steps for the remainder of the subsets of connected edges; and fitting the model to the data set, wherein the data set is indicative of the balloon catheter. Y1 - 2015 UR - https://patents.google.com/patent/US8989463B2/en ER - TY - GEN A1 - Schön, N. A1 - Blohm, L. A1 - Dannenmann, T. A1 - Dennerlein, F. A1 - Hoheisel, M. A1 - Strobel, Norbert T1 - Verfahren zur Registrierung eines ersten Koordinatensystems einer ersten medizinischen Bildgebungseinrichtung mit einem zweiten Koordinatensystemeiner zweitenmedizinischen Bildgebungseinrichtung und/oder einem dritten Koordinatensystem eines medizinischen Instruments, welches durchMarker einer medizinischen Navigationseinrichtung definiert ist, und medizinisches Untersuchungs- und/oder Behandlungssystem (Patent, DE 102011006537) Y1 - 2014 ER - TY - GEN A1 - Dennerlein, F. A1 - Blohm, L. A1 - Vogt, M. A1 - Hoheisel, M. A1 - Schön, N. A1 - Strobel, Norbert A1 - Dannenmann, T. T1 - Verfahren und System zur Unterstützung des Arbeitsablaufs in einer Operationsumgebung (Patent, DE102011006574) Y1 - 2014 ER - TY - CHAP A1 - Hariharan, Sai Gokul A1 - Kaethner, Christian A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Albarqouni, Shadi A1 - Fahrig, Rebecca A1 - Navab, Nassir T1 - Learning-based X-ray image denoising utilizing model-based image simulations T2 - International Conference on Medical Image Computing and Computer-Assisted Intervention - MICCAI 2019, 22nd International Conference Shenzhen, China, October 13-17, 2019 Proceedings, Part VI Y1 - 2019 U6 - https://doi.org/10.1007/978-3-030-32226-7_61 SP - 549 EP - 557 PB - Springer International Publishing CY - Cham ER - TY - CHAP A1 - Hariharan, Sai Gokul A1 - Kaethner, Christian A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - DiNitto, Julie A1 - Fahrig, Rebecca A1 - Navab, Nassir T1 - Model-based motion artifact correction in digital subtraction angiography using optical-flow T2 - Bildverarbeitung für die Medizin 2019: Algorithmen - Systeme - Anwendungen. Proceedings des Workshops vom 17. bis 19. März 2019 in Lübeck Y1 - 2019 U6 - https://doi.org/10.1007/978-3-658-25326-4_31 SP - 146 EP - 151 PB - Springer Fachmedien CY - Wiesbaden ER - TY - CHAP A1 - Spieß, Florian A1 - Friesslich, Jonas A1 - Bluemm, Daniel A1 - Mast, Fabio A1 - Vinokour, Dmitrij A1 - Kounev, Samuel A1 - Kaupp, Tobias A1 - Strobel, Norbert T1 - Towards a Mobile Robot Localization Benchmark with Challenging Sensordata in an Industrial Environment T2 - 2021 20th International Conference on Advanced Robotics (ICAR) N2 - To arrive at a realistic assessment of localization methods in terms of their performance in an industrial environment under various challenging conditions, we provide a benchmark to evaluate algorithms both for individual components as well as multi-sensor systems. For several sensor types, including wheel odometry, RGB cameras, RGB-D cameras, and LIDAR, potential issues were identified. The accuracy of wheel odometry, for example, when there are bumps on the track. For each sensor type, we explicitly chose a track for the benchmark dataset containing situations where the sensor fails to provide adequate measurements. Based on the acquired sensor data, localization can be achieved either using a single sensor information or sensor fusion. To help evaluate the output of associated localization algorithms, we provide a software to evaluate a set of metrics as part of the paper. An example application of the benchmark with state-of-the-art algorithms for each sensor is also provided. Y1 - 2021 U6 - https://doi.org/10.1109/ICAR53236.2021.9659355 SP - 857 EP - 864 ER - TY - JOUR A1 - Spiess, Florian A1 - Reinhart, Lukas A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kaiser, Dennis A1 - Kounev, Samuel T1 - People detection with depth silhouettes and convolutional neural networks on a mobile robot JF - Journal of Image and Graphics N2 - This paper presents a novel people detection approach for mobile robot applications based on a combination of classical computer vision techniques and a state-of-the-art neural network. Our approach involves an RGB-D camera as an environmental sensor. The depth data is used to extract silhouettes around people. The RGB images are subsequently augmented with this border information before passing it to the neural network. Under challenging lighting conditions, our system was able to outperform the neural network trained on regular RGB data alone by a factor of two. Y1 - 2021 UR - http://www.joig.net/index.php?m=content&c=index&a=show&catid=72&id=277 VL - 9 IS - 4 SP - 135 EP - 139 ER - TY - CHAP A1 - Spiess, Florian A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kounev, Samuel T1 - A data-driven Sensor Model for LIDAR Range Measurements used for Mobile Robot Navigation T2 - 2022 Sixth IEEE International Conference on Robotic Computing (IRC) N2 - In this paper, an analysis of the precision of LIDAR range measurements is presented. LIDAR data from two different sensors (HLS-LFCD-LDS and SICK TIM561) were analyzed regarding the influence of range, incident angle to the surface, and material. Based on the results, a data-driven model for LIDAR precision behavior was developed, and a comparison with standard deviation models based on the vendor-provided specifications was presented. Our model can be used to create realistic sensor simulations and to develop robot navigation algorithms weighing sensor range readings based on the precision. Y1 - 2022 U6 - https://doi.org/10.1109/IRC55401.2022.00020 SP - 76 EP - 80 ER - TY - JOUR A1 - Spiess, Florian A1 - Friesslich, Jonas A1 - Kaupp, Tobias A1 - Kounev, Samuel A1 - Strobel, Norbert T1 - Survey and Experimental Comparison of RGB-D Indoor Robot Navigation Methods Supported by ROS and Their Expansion via Fusion with Wheel Odometry and IMU Data JF - International Journal of Mechanical Engineering and Robotics Research Y1 - 2020 U6 - https://doi.org/10.18178/ijmerr.9.12.1532-1540 VL - 9 IS - 12 SP - 1532 EP - 1540 ER - TY - JOUR A1 - Spiess, Florian A1 - Strobel, Norbert A1 - Kaupp, Tobias A1 - Kounev, Samuel T1 - A data-driven Model for Range Sensors JF - Encyclopedia with Semantic Computing and Robotic Intelligence Y1 - 2023 UR - https://www.worldscientific.com/doi/abs/10.1142/S2529737623500065?journalCode=escri ER - TY - CHAP A1 - Roser, Philipp A1 - Zhong, Xia A1 - Birkhold, Annette A1 - Preuhs, Alexander A1 - Syben, Christopher A1 - Hoppe, Elisabeth A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - Simultaneous estimation of X-ray back-scatter and forward-scatter using multi-task learning T2 - Medical Image Computing and Computer Assisted Intervention–MICCAI 2020: 23rd International Conference, Lima, Peru, October 4–8, 2020, Proceedings, Part II 23 Y1 - 2020 UR - https://link.springer.com/chapter/10.1007/978-3-030-59713-9_20 U6 - https://doi.org/10.1007/978-3-030-59713-9_20 SP - 199 EP - 208 PB - Springer International Publishing ER - TY - CHAP A1 - Zhong, Xia A1 - Roser, Philipp A1 - Bayer, Siming A1 - Ravikumar, Nishant A1 - Strobel, Norbert A1 - Birkhold, Annette A1 - Horz, Tim A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - Pediatric Patient Surface Model Atlas Generation and X-Ray Skin Dose Estimation T2 - Bildverarbeitung für die Medizin 2019: Algorithmen - Systeme - Anwendungen. Proceedings des Workshops vom 17. bis 19. März 2019 in Lübeck Y1 - 2019 U6 - https://doi.org/10.1007/978-3-658-25326-4_27 SP - 122 EP - 127 PB - Springer Fachmedien CY - Wiesbaden ER - TY - CHAP A1 - Roser, Philipp A1 - Birkhold, Annette A1 - Preuhs, Alexander A1 - Syben, Christopher A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - Deep scatter splines: Learning-based medical X-ray scatter estimation using B-splines T2 - The 6th International Conference on Image Formation in X-Ray Computed Tompgraphy Y1 - 2020 UR - https://arxiv.org/pdf/2005.03470.pdf ER - TY - CHAP A1 - Shetty, Karthik A1 - Birkhold, Annette A1 - Strobel, Norbert A1 - Egger, Bernhard A1 - Jaganathan, Srikrishna A1 - Kowarschik, Markus A1 - Maier, Andreas T1 - Deep Learning Compatible Differentiable X-ray Projections for Inverse Rendering T2 - Bildverarbeitung für die Medizin 2021: Proceedings, German Workshop on Medical Image Computing, Regensburg, March 7-9 Y1 - 2021 UR - https://arxiv.org/pdf/2102.02912.pdf SP - 290 EP - 295 PB - Springer Fachmedien CY - Wiesbaden ER - TY - CHAP A1 - Shetty, Karthik A1 - Birkhold, Annette A1 - Jaganathan, Srikrishna A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Maier, Andreas A1 - Egger, Bernhard T1 - PLIKS - A Pseudo-Linear Inverse Kinematic Solver for3D Human Body Estimation T2 - Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition Y1 - 2023 UR - https://arxiv.org/pdf/2211.11734.pdf SP - 574 EP - 584 ER - TY - JOUR A1 - Hariharan, Sai Gokul A1 - Kaethner, Christian A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Navab, Nassir T1 - Robust learning-based x-ray image denoising—potential pitfalls, their analysis and solutions JF - Biomedical Physics & Engineering Express Y1 - 2022 U6 - https://doi.org/10.1088/2057-1976/ac3489 VL - 8 IS - 3 ER - TY - JOUR A1 - Maul, Noah A1 - Roser, Philipp A1 - Birkhold, Annette A1 - Kowarschik, Markus A1 - Zhong, Xia A1 - Strobel, Norbert A1 - Maier, Andreas T1 - Learning-based occupational x-ray scatter estimation JF - Physics in Medicine and Biology Y1 - 2022 U6 - https://doi.org/10.1088/1361-6560/ac58dc VL - 67 IS - 7 ER - TY - JOUR A1 - Zhong, Xia A1 - Amrehn, Mario A1 - Ravikumar, Nishant A1 - Chen, Shuqing A1 - Strobel, Norbert A1 - Birkhold, Annette A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - Deep action learning enables robust 3D segmentation of body organs in various CT and MRI images JF - Scientific Reports Y1 - 2021 U6 - https://doi.org/10.1038/s41598-021-82370-6 VL - 11 IS - 1 ER - TY - JOUR A1 - Roser, Philipp A1 - Birkhold, Annette A1 - Preuhs, Alexander A1 - Stimpel, Bernhard A1 - Syben, Christopher A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - Fully-automatic CT data preparation for interventional X-ray skin dose simulation JF - Bildverarbeitung für die Medizin 2020: Algorithmen - Systeme - Anwendungen. Proceedings des Workshops vom 15. bis 17. März 2020 in Berlin Y1 - 2020 U6 - https://doi.org/10.1007/978-3-658-29267-6_26 SP - 125 EP - 130 PB - Springer Fachmedien CY - Wiesbaden ER - TY - JOUR A1 - Busch, Erik A1 - Strobel, Norbert A1 - Nobach, Kai A1 - Bulitta, Clemens A1 - Hirshfeld, John W. A1 - Lin, Wu A1 - de Abreu, Marcel Gama T1 - Optimizing the innovation and development process of medical devices - a study based on angiographic equipment JF - Health and Technology Y1 - 2021 UR - https://link.springer.com/article/10.1007/s12553-021-00537-7 U6 - https://doi.org/doi.org/10.1007/s12553-021-00537-7 VL - 11 IS - 3 SP - 563 EP - 574 ER - TY - JOUR A1 - Roser, Philipp A1 - Birkhold, Annette A1 - Preuhs, Alexander A1 - Ochs, Philipp A1 - Stepina, Elizaveta A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - XDose: toward online cross-validation of experimental and computational X-ray dose estimation JF - International Journal of Computer Assisted Radiology and Surgery Y1 - 2020 U6 - https://doi.org/10.1007/s11548-020-02298-6 VL - 16 IS - 2 ER - TY - JOUR A1 - Roser, Philipp A1 - Birkhold, Annette A1 - Preuhs, Alexander A1 - Syben, Christopher A1 - Felsner, Lina A1 - Hoppe, Elisabeth A1 - Strobel, Norbert A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - X-ray Scatter Estimation Using Deep Splines JF - IEEE Transactions on Medical Imaging Y1 - 2021 UR - https://arxiv.org/pdf/2101.09177.pdf VL - 40 IS - 9 SP - 2272 EP - 2283 ER - TY - JOUR A1 - Hariharan, Sai Gokul A1 - Strobel, Norbert A1 - Kaethner, Christian A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Navab, Nassir T1 - Data-driven estimation of noise variance stabilization parameters for low-dose x-ray images JF - Physics in Medicine and Biology Y1 - 2020 U6 - https://doi.org/10.1088/1361-6560/abbc82 VL - 65 IS - 22 ER - TY - JOUR A1 - Zhong, Xia A1 - Strobel, Norbert A1 - Birkhold, Annette A1 - Kowarschik, Markus A1 - Fahrig, Rebecca A1 - Maier, Andreas T1 - A machine learning pipeline for internal anatomical landmark embedding based on a patient surface model JF - International Journal of Computer Assisted Radiology and Surgery Y1 - 2019 U6 - https://doi.org/10.1007/s11548-018-1871-y VL - 14 IS - 1 SP - 53 EP - 61 ER - TY - JOUR A1 - Shetty, Karthik A1 - Birkhold, Annette A1 - Jaganathan, Srikrishna A1 - Strobel, Norbert A1 - Egger, Bernhard A1 - Kowarschik, Markus A1 - Maier, Andreas T1 - BOSS: Bones, organs and skin shape model JF - Computers in Biology and Medicine Y1 - 2023 UR - https://arxiv.org/pdf/2303.04923.pdf SN - 0010-4825 VL - 165 ER -