Intraoperative Navigation für die minimalinvasive Resektion von Nierentumoren

The purpose of this diploma thesis is to present a detailed description of a real-time navigation system for computer assisted surgery. The system that is based on open source technology was developed with laparoscopic partial nephrectomies as a first application scenario. The main goal of the application is to enable tracking of the tumor position and orientation during a surgery. The system is based on ultrasound to CT registration and electromagnetic tracking. The basic idea is to process electromagnetic tracking information to generate an augmented reality (AR) visualization of a tumor model in a laparoscopic camera image. This way the system enhances the surgeon's view on the operating field and therefore facilitates higher safety during the surgery. So far the system was applied in vitro with two phantom trials with the aid of a surgeon which yielded promising results.