<?xml version="1.0" encoding="utf-8"?>
<export-example>
  <doc>
    <id>733</id>
    <completedYear>2004</completedYear>
    <publishedYear/>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst/>
    <pageLast/>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>article</type>
    <publisherName/>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>2018-06-04</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Light Fields for Minimal Invasive Surgery Using an Endoscope Positioning Robot</title>
    <abstract language="eng">OBJECTIVES: &#13;
To generate a fast and robust 3-D visualization of the operation site during minimal invasive surgery.&#13;
&#13;
METHODS: &#13;
Light fields are used to model and visualize the 3-D operation site during minimal invasive surgery. An endoscope positioning robot provides the position and orientation of the endoscope. The a priori un-known transformation from the endoscope plug to the endoscope tip (hand-eye transformation) can either be determined by a three-step algorithm, which includes measuring the endoscope length by hand or by using an automatic hand-eye calibration algorithm. Both methods are described in this paper and their respective computation times and accuracies are compared.&#13;
&#13;
RESULTS: &#13;
Light fields were generated during real operations and in the laboratory. The comparison of the two methods to determine the unknown hand-eye transformation was done in the laboratory. The results which are being presented in this paper are: rendered images from the generated light fields, the calculated extrinsic camera parameters and their accuracies with respect to the applied hand-eye calibration method, and computation times.&#13;
&#13;
CONCLUSION: &#13;
Using an endoscope positioning robot and knowing the hand-eye transformation, the fast and robust generation of light fields for minimal invasive surgery is possible.</abstract>
    <parentTitle language="eng">Methods of Information in Medicine</parentTitle>
    <enrichment key="review.accepted_by">2</enrichment>
    <author>F. Vogt</author>
    <author>S. Krüger</author>
    <author>Jochen Schmidt</author>
    <author>D. Paulus</author>
    <author>H. Niemann</author>
    <author>W. Hohenberger</author>
    <author>Schick C. H.</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Robotics</value>
    </subject>
    <collection role="ddc" number="000">Informatik, Informationswissenschaft, allgemeine Werke</collection>
    <collection role="institutes" number="">Fakultät für Informatik</collection>
    <thesisPublisher>Technische Hochschule Rosenheim</thesisPublisher>
  </doc>
</export-example>
