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)
– 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)
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)
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)
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)
We have implemented Analytical Minimization/Dynamic programming (AM/DP) elastography on GPU (graphics processing unit) to compute real-time strain images. Real-time strain imaging has numerous applications e.g. in the detection of cancer tumors, ablation monitoring, etc. We have achieved a 27x-30x speedup over a CPU implementation. We show strain images of(More)
– Currently industrial robotic systems employ almost exclusively global maps for navigation purposes, if any. Additional information – intra-process, spatial, current, and persistent sensor data – is useful to cope with uncertainty, measurement errors, and incompleteness of data. We propose to augment robot world models by using local sensors (which provide(More)