Rapid octree construction from image sequences
CVGIP: Image Understanding
The Visual Hull Concept for Silhouette-Based Image Understanding
IEEE Transactions on Pattern Analysis and Machine Intelligence
Polyhedral Visual Hulls for Real-Time Rendering
Proceedings of the 12th Eurographics Workshop on Rendering Techniques
A convenient multicamera self-calibration for virtual environments
Presence: Teleoperators and Virtual Environments
A Comparison and Evaluation of Multi-View Stereo Reconstruction Algorithms
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 1
Grimage: markerless 3D interactions
ACM SIGGRAPH 2007 emerging technologies
A boosted segmentation method for surgical workflow analysis
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Robotic assistance for ultrasound guided prostate brachytherapy
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
HMM assessment of quality of movement trajectory in laparoscopic surgery
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Automatic detection and segmentation of robot-assisted surgical motions
MICCAI'05 Proceedings of the 8th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Robust background subtraction for quick illumination changes
PSIVT'06 Proceedings of the First Pacific Rim conference on Advances in Image and Video Technology
A real-time system for full body interaction with virtual worlds
EGVE'04 Proceedings of the Tenth Eurographics conference on Virtual Environments
Inverse C-arm Positioning for Interventional Procedures Using Real-Time Body Part Detection
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Distributed smart cameras for hard real-time control
Proceedings of the Fourth ACM/IEEE International Conference on Distributed Smart Cameras
Estimating radiation exposure in interventional environments
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part III
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With the increased presence of automated devices such as C-arms and medical robots and the introduction of a multitude of surgical tools, navigation systems and patient monitoring devices, collision avoidance has become an issue of practical value in interventional environments. In this paper, we present a real-time 3D reconstruction system for interventional environments which aims at predicting collisions by building a 3D representation of all the objects in the room. The 3D reconstruction is used to determine whether other objects are in the working volume of the device and to alert the medical staff before a collision occurs. In the case of C-arms, this allows faster rotational and angular movement which could for instance be used in 3D angiography to obtain a better reconstruction of contrasted vessels. The system also prevents staff to unknowingly enter the working volume of a device. This is of relevance in complex environments with many devices. The recovered 3D representation also opens the path to many new applications utilizing this data such as workflow analysis, 3D video generation or interventional room planning. To validate our claims, we performed several experiments with a real C-arm that show the validity of the approach. This system is currently being transferred to an interventional room in our university hospital.