Marco Feuerstein (Dr. rer. nat., Dipl.-Inf. Univ.) Department of Media Science Graduate School of Information Science Nagoya University Furo-cho, Chikusa-ku, Nagoya 464-8603 Japan Tel.: +81 52 7895688 Fax: +81 52 7893815
	Research Publications Projects Miscellaneous Activities Education Work Experience Teaching Theses, SEPs, and IDPs under my (Co-)Supervision

Research

• Computer Aided Diagnosis
• Image Guided Surgery
• Endoscopy
• Medical Augmented Reality

Publications

2009
	M. Feuerstein, T. Reichl, J. Vogel, J. Traub, N. Navab Magneto-Optical Tracking of Flexible Laparoscopic Ultrasound: Model-Based Online Detection and Correction of Magnetic Tracking Errors To appear in IEEE Trans. Med. Imag. (bib)
	M. Feuerstein, D. Deguchi, T. Kitasaka, S. Iwano, K. Imaizumi, Y. Hasegawa, Y. Suenaga, K. Mori Automatic Mediastinal Lymph Node Detection in Chest CT SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
	T. Sugiura, D. Deguchi, M. Feuerstein, T. Kitasaka, Y. Suenaga, K. Mori A method for accelerating bronchoscope tracking based on image registration by using GPU SPIE Medical Imaging, Orlando, Florida, USA, February 2009 (bib)
2008
	T. Sielhorst, M. Feuerstein, N. Navab Advanced Medical Displays: A Literature Review of Augmented Reality IEEE/OSA Journal of Display Technology; Special Issue on Medical Displays, Volume 4, Issue 4, Dec. 2008 (bib)
	H. Yano, D. Deguchi, M. Feuerstein, T. Kitasaka, K. Mori, Y. Suenaga A study on bronchial area extraction from 3D chest CT images using CT value distribution features 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	T. Sugiura, D. Deguchi, M. Feuerstein, T. Kitasaka, K. Mori, Y. Suenaga, K. Imaizumi, Y. Hasegawa A study on a method for accelerating bronchoscope tracking based on image registration on GPU 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	X. Luo, M. Feuerstein, D. Deguchi, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori A Study on Feature Point Extraction from Bronchoscopic Images for Bronchoscope Tracking 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	M. Feuerstein, D. Deguchi, T. Kitasaka, S. Iwano, K. Imaizumi, Y. Hasegawa, Y. Suenaga, K. Mori Automatic Detection of Mediastinal Lymph Nodes in Contrast-Enhanced Chest CT 17th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, October/November 2008 (bib)
	M. Feuerstein, T. Reichl, J. Vogel, J. Traub, N. Navab New Approaches to Online Estimation of Electromagnetic Tracking Errors for Laparoscopic Ultrasonography Computer Aided Surgery, vol. 13, no. 5, pp. 311-323, September 2008 (bib)
	T. Wendler, J. Traub, T. Lasser, M. Feuerstein, J. Vogel, S. Ziegler, N. Navab Combined ultrasound and gamma probe imaging for examination of thyroid nodules Proceedings of Annual Meeting of Society of Nuclear Medicine (SNM 2008), New Orleans, USA, June 2008 (bib)
	M. Baumhauer, M. Feuerstein, H.P. Meinzer, J. Rassweiler Navigation in Endoscopic Soft Tissue Surgery: Perspectives and Limitations Journal of Endourology, vol. 22, no. 4, pp. 1-16, April 2008 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Intraoperative Laparoscope Augmentation for Port Placement and Resection Planning in Minimally Invasive Liver Resection IEEE Trans. Med. Imag., vol. 27, no. 3, pp. 355-369, March 2008 (bib)
	M. Feuerstein Augmented Reality in Laparoscopic Surgery - New Concepts and Methods for Intraoperative Multimodal Imaging and Hybrid Tracking in Computer Aided Surgery Book, ISBN 978-3-8364-7783-3. Availability can be checked at www.bookbutler.de. (bib)
2007
	T. Wendler, M. Feuerstein, J. Traub, T. Lasser, J. Vogel, F. Daghighian, S. Ziegler, N. Navab Real-time fusion of ultrasound and gamma probe for navigated localization of liver metastases Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October 29 - November 2007, LNCS 4792 (2), pp. 909-917 (bib)
	M. Feuerstein, T. Reichl, J. Vogel, A. Schneider, H. Feußner, N. Navab Magneto-optic Tracking of a Flexible Laparoscopic Ultrasound Transducer for Laparoscope Augmentation Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2007), Brisbane, Australia, October/November 2007. The original publication is available online at www.springerlink.com (bib)
	M. Feuerstein Augmented Reality in Laparoscopic Surgery - New Concepts for Intraoperative Multimodal Imaging PhD Thesis. The original (high-resolution) publication is available online at mediatum.ub.tum.de (bib)
	N. Navab, J. Traub, T. Sielhorst, M. Feuerstein, C. Bichlmeier Action- and Workflow-Driven Augmented Reality for Computer-Aided Medical Procedures IEEE Computer Graphics and Applications, vol. 27, no. 5, pp. 10-14, Sept/Oct, 2007 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Registration-free Laparoscope Superimposition for Intra-Operative Planning of Liver Resection 3rd Russian-Bavarian Conference on Biomedical Engineering, Erlangen, Germany, July 2/3 2007 (bib)
	R. Bauernschmitt, M. Feuerstein, J. Traub, E.U. Schirmbeck, G. Klinker, R. Lange Optimal port placement and enhanced guidance in robotically assisted cardiac surgery Surgical Endoscopy, Volume 21, Number 4, April 2007 (bib)
	C. Alcérreca, J. Vogel, M. Feuerstein, N. Navab A New Approach to Ultrasound Guided Radio-Frequency Needle Placement Bildverarbeitung für die Medizin 2007, Munich, Germany, March 2007 (bib)
	N. Navab, M. Feuerstein, C. Bichlmeier Laparoscopic Virtual Mirror - New Interaction Paradigm for Monitor Based Augmented Reality Virtual Reality, Charlotte, North Carolina, USA, March 10-14, 2007 (bib)
	M. Feuerstein, T. Mussack, S.M. Heining, N. Navab Registration-Free Laparoscope Augmentation for Intra-Operative Liver Resection Planning SPIE Medical Imaging, San Diego, California, USA, 17-22 February 2007 (bib)
2006
	M. Feuerstein, K. Filippatos, O. Kutter, E.U. Schirmbeck, R. Bauernschmitt, N. Navab A Novel Segmentation and Navigation Tool for Endovascular Stenting of Aortic Aneurysms International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 280 - 282. The original publication is available online at www.springerlink.com (bib)
	T. Sielhorst, M. Feuerstein, J. Traub, O. Kutter, N. Navab CAMPAR: A software framework guaranteeing quality for medical augmented reality International Journal of Computer Assisted Radiology and Surgery, 2006; Vol. 1 Suppl. 1, page 29 - 30. The original publication is available online at www.springerlink.com (bib)
2005
	M. Feuerstein, S.M. Wildhirt, R. Bauernschmitt, N. Navab Automatic Patient Registration for Port Placement in Minimally Invasive Endoscopic Surgery Proceedings of Medical Image Computing and Computer-Assisted Intervention (MICCAI 2005), Palm Springs, USA, October 2005. The original publication is available online at www.springerlink.com (bib)
	J. Traub, S. Wiesner, M. Feuerstein, H. Feußner, N. Navab Evaluation of Calibration Methods for Laparoscope Augmentation 4. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2005), Berlin, Germany, September 2005 (bib)
	M. Feuerstein, N. Navab, E.U. Schirmbeck, S.M. Wildhirt, R. Lange, R. Bauernschmitt Endocsope Augmentation for Port Placement and Navigation for Rigid Anatomy 4. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2005), Berlin, Germany, September 2005 (bib)
	R. Bauernschmitt, M. Feuerstein, E.U. Schirmbeck, N. Augustin, S.M. Wildhirt, R. Lange Improvement of Endovascular Stent Grafting by Augmented Reality Biomedizinische Technik (BMT 2005), Volume 50, Supplementary vol. 1, Part 2, pp. 1262 - 1263, Nuremberg, Germany, September 2005 (bib)
2004
	R. Bauernschmitt, M. Feuerstein, E.U. Schirmbeck, J. Traub, G. Klinker, S.M. Wildhirt, R. Lange Improved Preoperative Planning in Robotic Heart Surgery IEEE Proceedings of Computers in Cardiology (CinC 2004), pp. 773 - 776, Chicago, USA, September 2004 (bib)
	J. Traub, M. Feuerstein, M. Bauer, E.U. Schirmbeck, H. Najafi, R. Bauernschmitt, G. Klinker Augmented Reality for Port Placement and Navigation in Robotically Assisted Minimally Invasive Cardiovascular Surgery Proceedings of Computer Assisted Radiology and Surgery (CARS 2004), pp. 735 - 740, Chicago, USA, June 2004 (bib)

Projects

Virtual Mirror: Interaction Paradigm for Augmented Reality Applications Augmented Reality offers a higher degree of freedom for the programmer than classical visualization of volume data on a screen. The existing paradigms for interaction with 3D objects are not satisfactory for particular applications since the majority of them rotate and move the object of interest. The classic manipulation of virtual objects cannot be used while keeping real and virtual spaces in alignment within an AR environment. This project introduces a simple and efficient interaction paradigm allowing the users to interact with 3D objects and visualize them from arbitrary viewpoints without disturbing the in-situ visualization, or requiring the user to change the viewpoint. We present a virtual, tangible mirror as a new paradigm for interaction with 3D models. The concept borrows its visualization paradigm in some sense from methodology used by dentists to examine the oral cavity without constantly changing their own viewpoint or moving the patients head. The virtual mirror improves the understanding of complex structures, enables completely new concepts to support navigational aid for different tasks and provides the user with intuitive views on physically restricted areas.

Real-time fusion of ultrasound and gamma probe for navigated localization of malignancy Intra-operative localization of non-superficial cancerous lesions in non-hollow organs like liver, kidney, etc is currently facilitated by intra-operative ultrasound (IOUS) and palpation. This yields a high rate of false positives due to benign abnormal regions and thus unnecessary resections with increased complications and morbidity. In this project we integrate functional nuclear information from gamma probes with IOUS, to provide a synchronized, real-time visualization that facilitates the detection of active tumors and metastases intra-operatively. The bet of this project is that the inclusion of an advanced, augmented visualization provides more reliability and confidence on classifying lesions prior to the resection.

Laparoscope Augmentation for Minimally Invasive Liver Resection In recent years, an increasing number of liver tumor indications were treated by minimally invasive laparoscopic resection. Besides the restricted view, a major issue in laparoscopic liver resection is the precise localization of the vessels to be divided. To navigate the surgeon to these vessels, pre-operative imaging data can hardly be used due to intra-operative organ deformations caused by appliance of carbon dioxide pneumoperitoneum and respiratory motion. Therefore, we propose to use an optically tracked mobile C-arm providing cone-beam computed tomography imaging capability intra-operatively. After patient positioning, port placement, and carbon dioxide insufflation, the liver vessels are contrasted and a 3D volume is reconstructed during patient exhalation. Without any further need for patient registration, the volume can be directly augmented on the live laparoscope video. This augmentation provides the surgeon with essential aid in the localization of veins, arteries, and bile ducts to be divided or sealed. Current research focuses on the intra-operative use and tracking of mobile C-arms as well as laparoscopic ultrasound, augmented visualization on the laparoscope's view, and methods to synchronize respiratory motion.

Port Placement in Minimally Invasive Endoscopic Surgery Optimal port placement is a delicate issue in minimally invasive endoscopic surgery. A good choice of the instruments' and endoscope's ports can avoid time-consuming consecutive new port placement. We present a novel method to intuitively and precisely plan the port placement. The patient is registered to its pre-operative CT by just moving the endoscope around fiducials, which are attached to the patient's thorax and are visible in its CT. Their 3D positions are automatically reconstructed. Without prior time-consuming segmentation, the pre-operative CT volume is directly rendered with respect to the endoscope or instruments. This enables the simulation of a camera flight through the patient's interior along the instruments' axes to easily validate possible ports.

Magneto-Optic Tracking of a Flexible Laparoscopic Ultrasound Transducer In abdominal surgery, a laparoscopic ultrasound transducer is commonly used to detect lesions such as metastases. The determination and visualization of position and orientation of its flexible tip in relation to the patient or other surgical instruments can be of much help to (novice) surgeons utilizing the transducer intraoperatively. This difficult subject has recently been paid attention to by the scientific community. Electromagnetic tracking systems can be applied to track the flexible tip. However, the magnetic field can be distorted by ferromagnetic material. We present a new method based on optical tracking of the laparoscope and magneto-optic tracking of the transducer, which is able to automatically detect and correct field distortions. This is used for a smooth augmentation of the B-scan images of the transducer directly on the camera images in real time.

Endovascular Stenting of Aortic Aneurysms Endovascular stenting is a minimally invasive treatment technique for aortic aneurysms or dissections. Thereby, a certain aortic prosthesis (stent graft) is placed inside the aortic aneurysm in order to prevent a life-threatening rupture of the aortic wall. Prior to the intervention, a computed tomography angiography (CTA) is acquired on which the surgical staff can measure the parameter of the desired stent graft and finalize the intervention workflow. The entire interventional catheter navigation is done under 2D angiography imaging where the physician is missing the important 3D information. The purpose of our project is two-fold: 1. In the planning phase, a modified graph cuts algorithm automatically segments the aorta and aneurysm, so the surgical staff can choose an appropriate type of stent to match the segmented location, length, and diameter of the aneurysm and aorta. By visualizing the defined stent graft next to the three-dimensionally reconstructed aneurysm, mismeasurements can be detected in an early stage. Our main goal is the creation of an interactive simulation system that predicts the behaviour of the aortic wall and the movement of the implanted stent graft. 2. During implantation of the stent graft, after an intensity based registration of CTA and angiography data, the current navigation can be visualized in the 3D CT data set at any time. This includes solutions for electro-magnetic tracking of catheters as well as guide wires and stent grafts. Eventually, Our main goal is the creation of solutions that enable the surgeon to enhance the accuracy of the navigation and positioning, along with a minimum use of angiography, leading to less radiation exposure and less contrast agent injection.

Miscellaneous Activities

• Organization of the Workshop on Image Guidance and Computer Assistance for Soft-Tissue Interventions at MICCAI 2008 in New York City, USA
• Organization of the Medical AR Tutorial at MICCAI 2007 in Brisbane, Australia
• Cultural Program Coordinator of the 1st Iranian-German Workshop on Medical Engineering 2006 in Munich, Germany
• Scientific Review for IEEE Transactions on Medical Imaging, Computer Aided Surgery, Medical Image Computing and Computer-Assisted Intervention, International Symposium on Mixed and Augmented Reality, Bildverarbeitung für die Medizin

Education

• Jan. 2004 - Oct. 2007
  Ph.D. student of Prof. Nassir Navab
• Oct. 2001 - Dec. 2003
  Technische Universität München: Main study period of Computer science, focus on practical Computer Science, Minor: Architecture
• Aug./Sept. 2002
  National Taiwan University, Taipei: Internship at the Communication and Multimedia Laboratory of the Department of Computer Science and Information Engineering in 3D computer graphics
• May - Sept. 2001
  University of Sydney: Interdisciplinary project on Virtual Architecture at the Key Centre of Design Computing and Cognition
  Submitted Design: M.L. Maher, N. Gu, and M. Feuerstein (2001), Virtual Museum, FEIDAD
• Jan. - May 2001
  National University of Singapore: Exchange semester at the School of Computing
• Oct. 1998 - Aug. 2000
  Technische Universität München: Basic study period of Computer Science, Minor: Architecture

Work Experience

• Since Jan. 2008
  Researcher at the Department of Media Science, Graduate School of Information Science, Nagoya University, Japan
• May 2005 - Nov. 2007
  Research associate at the Chair for Computer Aided Medical Procedures and Augmented Reality, Germany
• Jan. 2004 - April 2005
  Research associate at the Dept. of Cardiothoracic Surgery, German Heart Center Munich, Germany
• March - July 2002
  Working student in the Function Development Process Department, BMW AG München, Germany
• Aug. - Dec. 2000
  Internship - Web-Programming (instabus), Siemens AG Singapore, Singapore
• March/April 2000
  Part time job: Database-Programming, varetis GmbH München, Germany
• March - Sept. 1999
  Part time job: Web-Design/-Programming, INWEMA AG München, Germany
• June - Sept. 1998
  Camp Counselor, Indian Lake Camp Burlingham, USA

Teaching

• Ferienakademie
• Lecture Computer Aided Medical Procedures II
• Hauptseminar Recent Advances in Computer Assisted Surgery
• Proseminar History of Computational Science, Vision, and Medical Science

Winter Term 2006

• Lecture Computer Aided Medical Procedures
• Hauptseminar Recent Advances in Computer Assisted Surgery

Summer Term 2006

• Lecture Computer Aided Medical Procedures II
• Programmierpraktikum Graphikprogrammierung in C++
• Doktorandenseminar Current Research and Challenges in Surgical Navigation

Winter Term 2005

• Hauptseminar Recent Advances in Computer Assisted Surgery
• Lecture 3D Computer Vision
• Tutor Einführung in die Informatik 1

Summer Term 2005

• Programmierpraktikum Graphikprogrammierung in C++

Winter Term 2004

• Praktikum Intra-operative Imaging & Visualization

Summer Term 2004

• Praktikum Intra-operative Imaging & Visualization
• Hauptseminar Methods and Tools in Medical Imaging

Theses, SEPs, and IDPs under my (Co-)Supervision

Current:

Finished:

• Error Classification and Propagation for Electromagnetic Tracking by Julian Much (DA/MA/BA)
• Online Error Correction for the Tracking of Laparoscopic Ultrasound by Tobias Reichl (Diploma Thesis)
• Navigated RF Ablation by Claudio Alcérreca (Master Thesis)
• Ultrasound-based Measurement of Anatomical Structures by Jörg Jakobs (Diploma Thesis)
• A Navigation Tool for the Endovascualar Treatment of Aortic Aneurysms - Computer Aided Implantation of a Stent Graft by Konstantinos Filippatos (Diploma Thesis)
• Development of an Automatic Segmentation, Measuring, and Planning Tool for the Aorta and Aneurysms by Oliver Kutter (IDP)