Catherina Burghart - Academia.edu (original) (raw)
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Papers by Catherina Burghart
PubMed, 2000
Planning, visualisation and intraoperative navigation in a robot assisted environment for craniof... more Planning, visualisation and intraoperative navigation in a robot assisted environment for craniofacial surgery require highly accurate methods for the segmentation of bone structures in CT data. Clinical systems are still based on time consuming interactive methods like the seed-point segmentation. Faster methods with no need for interactivity lacks in precision. In the following we will present an automatic and highly accurate algorithm for the segmentation of bone contours in CT data. It is based on an algorithm for the automatic calculation of a grey-value tissue relation model for CT and MRI data.
PubMed, 2000
We present the concept of a system architecture for the computer aided craniofacial surgery. The ... more We present the concept of a system architecture for the computer aided craniofacial surgery. The architecture is based on CORBA, an industrial standard specification for the development of distributed applications. Our concept includes a fundamental behaviour oriented communication model and some fundamental software safety considerations. We've developed a standard library for the integration of new services and devices into our system architecture. It decreases development time noticeably. We tested the performance and usability of our concept on an evaluation set up consisting of a surgery robot system, an infrared navigation system, a force-torque sensor and a visualisation software, obtaining excellent results. Future work will consist in the integration of further devices and the extension of our safety concept. An accurate clinical evaluation will take place continuously.
PubMed, 1998
In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of ... more In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraoperative communication protocols.
PubMed, 1998
Complex techniques for planning and performing surgery revolutionize medical interventions. In fo... more Complex techniques for planning and performing surgery revolutionize medical interventions. In former times preoperative planning of interventions usually took place in the surgeons mind. Today's new computer techniques allow the surgeon to discuss various operation methods for a patient and to visualize them three-dimensionally. The use of computer assisted surgical planning helps to get better results of a treatment and supports the surgeon before and during the surgical intervention. In this paper we are presenting our planning and simulation system for operations in maxillo-facial surgery. All phases of a surgical intervention are supported. Chapter 1 gives a description of the medical motivation for our planning system and its environment. In Chapter 2 the basic components are presented. The planning system is depicted in Chapter 3 and a simulation of a robot assisted surgery can be found in Chapter 4. Chapter 5 concludes the paper and gives a survey about our future work.
Studies in health technology and informatics, 1998
The segmentation of medical images like CT or MRI scans represents a great challenge to researche... more The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.
The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conferenc... more The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conference on Human-Robot Interaction was initiated and organized to further discussion and community progress towards metrics for human-robot interaction (HRI). This report contains the papers presented at the workshop, background information on the workshop itself, and future directions underway within the community.
Internet der Dienste, 2011
Wissen und Informationen wachsen nicht nur stetig in ihrer Menge, sie stellen heute vielmehr eine... more Wissen und Informationen wachsen nicht nur stetig in ihrer Menge, sie stellen heute vielmehr eine bedeutende Ressource vieler Unternehmen dar. Der effiziente Zugriff auf Unternehmenswissen, wie etwa Expertisen, Ansprechpartner, Projekt-und ...
2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007
AbstractIntelligent robotic systems will be found in several fields of everyday life in the near... more AbstractIntelligent robotic systems will be found in several fields of everyday life in the near future. This implies an easy handling of an interaction with service robots by naive persons. Up till now many problems in human-robot interaction do exist; one of them is the great ...
… systems: IAS-5, 1998
Abstract. Surgical interventions in maxillofacial surgery are rather difficult due to the complex... more Abstract. Surgical interventions in maxillofacial surgery are rather difficult due to the complexity of the anatomic structures involved. We have devised a surgical robotic system in order to assist the surgeon during an operation. The robot is intended as an intelligent ...
The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conferenc... more The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conference on Human-Robot Interaction was initiated and organized to further discussion and community progress towards metrics for human-robot interaction (HRI). This report contains the papers presented at the workshop, background information on the workshop itself, and future directions underway within the community.
Die Entwicklung menschenähnlicher (humanoider) Roboter war stets von hohen Erwartungen der zukünf... more Die Entwicklung menschenähnlicher (humanoider) Roboter war stets von hohen Erwartungen der zukünftigen Nutzer an die Leistungsfähigkeit solcher Roboter begleitet. Der Roboter soll nützliche Tätigkeiten in einer für Menschen geschaffenen Umgebung (z.B. in einer Wohnung) ausüben, aber auch auf natürliche, angemessene, berechenbare und angenehme Weise mit dem Menschen kommunizieren können. Die damit verbundenen Anforderungen an die Sicherheit, Zuverlässigkeit und Leistungsfähigkeit setzen neben umfassenden sensomotorischen Fähigkeiten auch Fähigkeiten zum Erfassen, Interpretieren und Bewerten von komplexen Situationen voraus (siehe u.a. [1, 2]). Diese bilden die Voraussetzung zu einer situationsangepassten Entscheidungsfindung, um Roboterhandlungen auszuwählen und zu parametrieren.
For more than three years the surgeons of the Clinic of Craniofacial Surgery of the University of... more For more than three years the surgeons of the Clinic of Craniofacial Surgery of the University of Heidelberg and the engineers of the Institute of Process Control and Robotics (IPR) of the University of Karlsruhe have been cooperating to devise an intelligent surgical robotic system for craniofacial surgery. In July 1998 a new surgical roboti cs system, a RX 90, was acquired, which was also used in first animal experiments in f all 1998. The experimental set up, the conducted tests, our experiences and results will be depicted in this paper.
PubMed, 2000
Planning, visualisation and intraoperative navigation in a robot assisted environment for craniof... more Planning, visualisation and intraoperative navigation in a robot assisted environment for craniofacial surgery require highly accurate methods for the segmentation of bone structures in CT data. Clinical systems are still based on time consuming interactive methods like the seed-point segmentation. Faster methods with no need for interactivity lacks in precision. In the following we will present an automatic and highly accurate algorithm for the segmentation of bone contours in CT data. It is based on an algorithm for the automatic calculation of a grey-value tissue relation model for CT and MRI data.
PubMed, 2000
We present the concept of a system architecture for the computer aided craniofacial surgery. The ... more We present the concept of a system architecture for the computer aided craniofacial surgery. The architecture is based on CORBA, an industrial standard specification for the development of distributed applications. Our concept includes a fundamental behaviour oriented communication model and some fundamental software safety considerations. We've developed a standard library for the integration of new services and devices into our system architecture. It decreases development time noticeably. We tested the performance and usability of our concept on an evaluation set up consisting of a surgery robot system, an infrared navigation system, a force-torque sensor and a visualisation software, obtaining excellent results. Future work will consist in the integration of further devices and the extension of our safety concept. An accurate clinical evaluation will take place continuously.
PubMed, 1998
In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of ... more In maxillofacial surgery the quality of the surgical outcome mainly depends on the experience of the operating surgeon. Thus we intend to support the surgeon before and during surgery in order to enhance the surgical results. On the one hand this implies the use of image processing, three dimensional modelling techniques and visualization techniques of medical image data, on the other hand planning systems, intraoperative navigation devices and surgical robots are needed. In this paper a complex expert system is presented, which uses a planner for generating treatment plans, an infrared navigation for monitoring both patient, robot, and surgical tool, and a surgical robotic system in order to work on bone. Special stress is laid on the architecture of the planning system, the structure of the treatment plans, and the intraoperative communication protocols.
PubMed, 1998
Complex techniques for planning and performing surgery revolutionize medical interventions. In fo... more Complex techniques for planning and performing surgery revolutionize medical interventions. In former times preoperative planning of interventions usually took place in the surgeons mind. Today's new computer techniques allow the surgeon to discuss various operation methods for a patient and to visualize them three-dimensionally. The use of computer assisted surgical planning helps to get better results of a treatment and supports the surgeon before and during the surgical intervention. In this paper we are presenting our planning and simulation system for operations in maxillo-facial surgery. All phases of a surgical intervention are supported. Chapter 1 gives a description of the medical motivation for our planning system and its environment. In Chapter 2 the basic components are presented. The planning system is depicted in Chapter 3 and a simulation of a robot assisted surgery can be found in Chapter 4. Chapter 5 concludes the paper and gives a survey about our future work.
Studies in health technology and informatics, 1998
The segmentation of medical images like CT or MRI scans represents a great challenge to researche... more The segmentation of medical images like CT or MRI scans represents a great challenge to researchers in computer vision, due to the variability of the individual anatomy and the different characteristics of the scanning systems. As an anatomical knowledge base improves the recognition of structures in CT or MRI scans, we chose a knowledge based segmentation in our approach, which will be explained in the following.
The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conferenc... more The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conference on Human-Robot Interaction was initiated and organized to further discussion and community progress towards metrics for human-robot interaction (HRI). This report contains the papers presented at the workshop, background information on the workshop itself, and future directions underway within the community.
Internet der Dienste, 2011
Wissen und Informationen wachsen nicht nur stetig in ihrer Menge, sie stellen heute vielmehr eine... more Wissen und Informationen wachsen nicht nur stetig in ihrer Menge, sie stellen heute vielmehr eine bedeutende Ressource vieler Unternehmen dar. Der effiziente Zugriff auf Unternehmenswissen, wie etwa Expertisen, Ansprechpartner, Projekt-und ...
2007 7th IEEE-RAS International Conference on Humanoid Robots, 2007
AbstractIntelligent robotic systems will be found in several fields of everyday life in the near... more AbstractIntelligent robotic systems will be found in several fields of everyday life in the near future. This implies an easy handling of an interaction with service robots by naive persons. Up till now many problems in human-robot interaction do exist; one of them is the great ...
… systems: IAS-5, 1998
Abstract. Surgical interventions in maxillofacial surgery are rather difficult due to the complex... more Abstract. Surgical interventions in maxillofacial surgery are rather difficult due to the complexity of the anatomic structures involved. We have devised a surgical robotic system in order to assist the surgeon during an operation. The robot is intended as an intelligent ...
The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conferenc... more The Metrics for Human-Robot Interaction 2008 workshop at the 3rd ACM/IEEE International Conference on Human-Robot Interaction was initiated and organized to further discussion and community progress towards metrics for human-robot interaction (HRI). This report contains the papers presented at the workshop, background information on the workshop itself, and future directions underway within the community.
Die Entwicklung menschenähnlicher (humanoider) Roboter war stets von hohen Erwartungen der zukünf... more Die Entwicklung menschenähnlicher (humanoider) Roboter war stets von hohen Erwartungen der zukünftigen Nutzer an die Leistungsfähigkeit solcher Roboter begleitet. Der Roboter soll nützliche Tätigkeiten in einer für Menschen geschaffenen Umgebung (z.B. in einer Wohnung) ausüben, aber auch auf natürliche, angemessene, berechenbare und angenehme Weise mit dem Menschen kommunizieren können. Die damit verbundenen Anforderungen an die Sicherheit, Zuverlässigkeit und Leistungsfähigkeit setzen neben umfassenden sensomotorischen Fähigkeiten auch Fähigkeiten zum Erfassen, Interpretieren und Bewerten von komplexen Situationen voraus (siehe u.a. [1, 2]). Diese bilden die Voraussetzung zu einer situationsangepassten Entscheidungsfindung, um Roboterhandlungen auszuwählen und zu parametrieren.
For more than three years the surgeons of the Clinic of Craniofacial Surgery of the University of... more For more than three years the surgeons of the Clinic of Craniofacial Surgery of the University of Heidelberg and the engineers of the Institute of Process Control and Robotics (IPR) of the University of Karlsruhe have been cooperating to devise an intelligent surgical robotic system for craniofacial surgery. In July 1998 a new surgical roboti cs system, a RX 90, was acquired, which was also used in first animal experiments in f all 1998. The experimental set up, the conducted tests, our experiences and results will be depicted in this paper.