Computers in Medicine: Computer-Assisted Surgery Medical Robotics Medical Image Processing Spring 2002 Prof. Leo Joskowicz School of Computer Science and Engineering The Hebrew University of Jerusalem Metargel: Ziv Yaniv Room

CAS Course, Spring 2002 © L. Joskowicz 2 Course description This course will study recent advances in the use of computers and robots to aid in planning and executing surgeries. The seminar will identify key advantages, difficulties, and opportunities of using computers and robots in assisting surgeries. It will describe existing state-of-the-art systems and algorithms for orthopaedic, laparoscopic, brain and other minimally invasive surgeries. Topics include preoperative and intraoperative planning, processing and registration, of medical images from different modalities (X-rays, computed tomography, magnetic resonance, nuclear medicine and video), medical robot design, registration, and system integration and design.

CAS Course, Spring 2002 © L. Joskowicz 3 Course Requirements Intended for third year and graduate students Background in one or more of : image processing, computer vision, robotics, graphics, computer-aided geometric design is highly desirable No medical background necessary Grade: based on 5 programming homework assignments (individual)

CAS Course, Spring 2002 © L. Joskowicz 4 Course Organization LecturesL. Joskowicz –introduction –clinical applications, problems, and examples –key technologies and current research areas –summary and perspectives (last lecture) Selected topics –medical image processing –multimodal image and robot registration –modeling and preoperative planning –medical robotic devices –integrated solutions for neurosurgery, orthopaedics, etc.

CAS Course, Spring 2002 © L. Joskowicz 5 Course resources (1) Textbookon reserve in the library –Computer-Integrated Surgery, Taylor et al. MIT Press, –Medical Image Registration, Hajnal et al, CRC Press, Proceedings –Proc of the 1st and 2nd Int. Conf. on Medical Computing and Computer-Assisted Intervention, Lecture Notes in Computer Science 1496 and 1679, Springer 1998, –CVRMed-MRCAS’97, Troccaz and Grimson eds, Lecture Notes in Computer Science 1205, Springer –Information Processing in Medical Imaging, Duncan and Gindi eds, Lecture Notes in Computer Science 1230, Springer 1997.

CAS Course, Spring 2002 © L. Joskowicz 6 Course resources (2) –Computer Vision, Virtual Reality, and Robotics in Medicine, N. Ayache ed., Lecture Notes in Computer Science 905, Springer –2nd Symposium on Medical Robotics and Computer- Assisted Surgery, Wiley-Liss, –Proc. of the 10-13th Conference on Computer- Assisted Radiology and Surgery, Lemke et al. Eds., Elsevier, –Various workshop and symposium notes (see instructor)

CAS Course, Spring 2002 © L. Joskowicz 7 Course resources (3) Course home page: Journals –Computer-Aided Surgery, Wiley. –Medical Image Analysis, Oxford University Press. Web sites – –see for udpates

CAS Course, Spring 2002 © L. Joskowicz 8 Why should you take this course? Get acquainted with a new, interdisciplinary field Learn about medical needs for computer technology Apply known methods to new problems Learn new methods to solve known problems Learn to understand key technical issues and main roadblock Learn to evaluate systems and developments Prepare for a job in a fast-growing area

CAS Course, Spring 2002 © L. Joskowicz 9 Course Focus Computer-aided image guided therapy –medical image processing: segmentation, modeling –medical robotics: hardware and navigation –medical CAD, graphics: visualization, simulation, model simplification, –image fusion and multimodal registration –clinical and engineering integration issues Not covered –hospital information systems, medical image archives –medical diagnosis expert systems –drug design and treatment –biomedical engineering, general medicine

CAS Course, Spring 2002 © L. Joskowicz 10 Technical topics (targil) Coordinate systems and representations: coordinate transformations, quaternions Rigid registration: linear, closed-form solution (Horn), error and robustness analysis Model construction: marching cubes algorithm and variations. Mesh simplification algorithms Image segmentation: edge detection, Hough transform, active contours Volume visualization (volume rendering)

CAS Course, Spring 2002 © L. Joskowicz 11 Today’s lecture Part 1: Surgery and Medicine –what’s involved in a surgery –types of surgeries –imaging modalities –medical trends and surgical needs Part 2: Computers and Robots –where can computers and robots help –CAS architecture and state of the art –examples of working systems –what is involved in developing surgical applications