Philipp J. Stolka

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– Current approaches to establish or improve precision of registration and execution in (surgical) robotics, especially milling applications, mostly aim at determining an exact relationship between intervention area and the robot. However, this is subject to quality deterioration due to positional shifts and deformations under load. Therefore, in this work(More)
Out-of-plane motion in freehand 3D ultrasound can be estimated using the correlation of corresponding patches, leading to sensorless freehand 3D ultrasound systems. The correlation between two images is related to their distance by calibrating the ultrasound probe: the probe is moved with an accurate stage (or with a robot in this work) and images of a(More)
We present an image-guided intervention system based on tracked 3D elasticity imaging (EI) to provide a novel interventional modality for registration with pre-operative CT. The system can be integrated in both laparoscopic and robotic partial nephrectomies scenarios, where this new use of EI makes exact intra-operative execution of pre-operative planning(More)
– Surgical procedures with navigation or robot system support usually require pre-operative planning data. This data can be acquired with imaging techniques such as computed tomography (CT), the current gold standard due to its high precision. With such imaging data, access trajectories, implant positions, individual milling paths etc. can be computed. We(More)
Ultrasound and computed tomography registration is a valuable tool for interventional imaging and navigation, but current methods are limited in reliability or usefulness, requiring large fields of view, large ultrasound penetration depth, distinct image features, or contours of the investigated organs. Computationally cheap, small-field-of-view(More)
With real-time instrument tracking and in-situ guidance projection directly integrated in a handheld ultrasound imaging probe, needle-based interventions such as biopsies become much simpler to perform than with conventionally-navigated systems. Stereo imaging with needle detection can be made sufficiently robust and accurate to serve as primary navigation(More)