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24.03.15 08:30

Who will pay my pension someday...?

Information event on pension rights for Internationally Mobile Researchers.

23.03.15 17:14

PhD Funding through the TUM Graduate School

STIBET Program of the DAAD // Internationalization voucher of the TUM-GS

20.03.15 16:23

Biomedical Applications for Cancer Treatment

April 23rd, 2015 I 04.00-06.00pm I Klinikum rechts der Isar I Pavillon Lecture Hall


March 2015


Haase, Sven Michael, Dipl. inform. med.

Associated member of GSISH

Contact Details:

Pattern Recognition Lab
University of Erlangen-Nuremberg

Martensstraße 3
91058 Erlangen

+49 (0)9131.8525246

Fax:     +49 (0)9131.303811


Project Details:




Time-of-Flight for 3D Endoscopy and Open Surgery



Prof. Dr. Joachim Hornegger

Prof. Hubertus Feußner

Prof. Dr. Alois Knoll

Start of PhD-work at GSISH:

January 2012

Project description:
Minimally Invasive Surgery (MIS) has become a promising option for a great number of surgical interventions. Due to even further minimization of collateral surgical trauma and quicker recovery, Natural Orifice Transluminal Endoscopic Surgery (NOTES) procedures emerge as the next generation of MISs.  However, the main disadvantage of those innovative methods is that diagnosis and intervention is solely based on the inspection of the image sequence provided by a monocular CCD camera. Distortion, inhomogeneous illumination and the limited field of view complicate depth perception and therefore navigation of the instruments and demand a high amount of expertise and experience. The surgeon’s decisions are always based on his subjective perception. Hence, a method to objectively measure and visualize the three dimensional operating environment is necessary to overcome this difficulty.
In this project a system for 3-D endoscopy is developed in order to measure three dimensionally and estimate the accurate position of instruments, organs and tissue objectively. For this purpose, color image information of the CCD camera and depth data acquired by a Time of Flight camera need to be combined in such way a real time 3-D measurement and further visualization at a constant pixel resolution during minimally invasive interventions is enabled.
The work is subdivided in three key aspects; the assembling of the prototype, the 3-D image processing and the data registration. The target system will be widely applicable due to feasible application for both, flexible and rigid, endoscopy and an easy handling involving the safe integration into the OR. The developed software targets to clearly visualize the measured distances in the operating field of view with high accuracy. Further, based on the fused data, supporting functionalities, e.g. collision detection and navigation aid, will be provided. Eventually, the system will facilitate the minimally invasive procedures by compensating for the loss of the third dimension and thus allow for fast and safe NOTES procedures



Publications/Conference Papers:

Haase, Sven and Forman, Christoph and Kilgus, Thomas and Bammer, Roland and Maier-Hein, Lena and Hornegger, Joachim
ToF/RGB Sensor Fusion for Augmented 3D Endoscopy using a Fully Automatic Calibration Scheme
Informatik aktuell, Bildverarbeitung für die Medizin 2012, Springer Berlin Heidelberg, ISBN: 978-3-642-28501-1

First author:

Haase, Sven; Schneider, Armin; Kranzfelder, Michael; Kilgus, Thomas; Maier-Hein, Lena; Hornegger, Joachim; Feußner, Hubertus
Time-of-Flight Based Collision Avoidance for Robot Assisted Minimally Invasive Surgery Evaluating effectiveness and acceptance of robots in surgery: user centered design and economic factors (ICRA Workshop 2013), Karlsruhe, 06.05, pp. 000-000, 2013

Haase, Sven; Forman, Christoph; Kilgus, Thomas; Bammer, Roland; Maier-Hein, Lena; Hornegger, Joachim
ToF/RGB Sensor Fusion for 3-D Endoscopy Current Medical Imaging Reviews, vol. 9, no. 2, pp. 113-119, 2013

S. Haase, S. Bauer, J. Wasza, T. Kilgus, L. Maier-Hein, A. Schneider, M. Kranzfelder, H. Feußner, J. Hornegger.
3-D Operation Situs Reconstruction with Time-of-Flight Satellite Cameras Using Photogeometric Data Fusion. MICCAI 2013 (Accepted)<small></small>

Sven Haase, Jakob Wasza, Thomas Kilgus, Joachim Hornegger
Laparoscopic Instrument Localization using a 3-D Time-of-Flight/RGB Endoscope, WACV 2013

Haase, Sven; Forman, Christoph; Kilgus, Thomas; Bammer, Roland; Maier-Hein, Lena; Hornegger, Joachim
ToF/RGB Sensor Fusion for Augmented 3-D Endoscopy using a Fully Automatic Calibration Scheme Bildverarbeitung für die Medizin (Bildverarbeitung für die Medizin 2012), Berlin, 19.03, pp. 111-116, 2012, ISBN 978-3-642-28501-1



T. Köhler, S. Haase, S. Bauer, J. Wasza, T. Kilgus, L. Maier-Hein, H. Feußner, J. Hornegger.
ToF Meets RGB: Novel Multi-Sensor Super-Resolution for Hybrid 3-D Endoscopy. MICCAI 2013 (Accepted)

Jens Wetzl, Oliver Taubmann, Sven Haase, Thomas Köhler
GPU Accelerated Time-of-Flight Super-Resolution for Image-Guided Surgery, BVM 2013

RITK: The Range Imaging Toolkit - A Framework for 3-D Range Image Stream Processing (Vortrag: VMV 2011: Vision, Modeling & Visualization 2011)

S. Bauer, J. Wasza, S. Haase, N. Marosi, J. Hornegger. Multi-modal Surface Registration for Markerless Initial Patient Setup in Radiation Therapy using Microsoft's Kinect Sensor. In Proc. IEEE ICCV/CDC4CV, 2011.

Personal Details:

For Curriculum Vitae of Sven M. Haase click here.