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3. SemSegMap- 3D Segment-Based Semantic Localization

Author

Cramariuc, Andrei, Tschopp, Florian, Alatur, Nikhilesh, Benz, Stefan, Falck, Tillmann, Bruehlmeier, Marius, Hahn, Benjamin, Nieto, Juan, and Siegwart, Roland

Subjects
Computer Science - Robotics
Abstract

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which allow a geometric mapping, and cameras able to provide semantic cues of the environment. Segment-based mapping and localization have been applied with great success to 3D point-cloud data, while semantic understanding has been shown to improve localization performance in vision based systems. In this paper we combine both modalities in SemSegMap, extending SegMap into a segment based mapping framework able to also leverage color and semantic data from the environment to improve localization accuracy and robustness. In particular, we present new segmentation and descriptor extraction processes. The segmentation process benefits from additional distance information from color and semantic class consistency resulting in more repeatable segments and more overlap after re-visiting a place. For the descriptor, a tight fusion approach in a deep-learned descriptor extraction network is performed leading to a higher descriptiveness for landmark matching. We demonstrate the advantages of this fusion on multiple simulated and real-world datasets and compare its performance to various baselines. We show that we are able to find 50.9% more high-accuracy prior-less global localizations compared to SegMap on challenging datasets using very compact maps while also providing accurate full 6 DoF pose estimates in real-time.

Published
2021

12. Prioritization and Resource Allocation in the Context of the COVID-19 Pandemic: Recommendations for Colorectal and Pancreatic Cancer in Germany

Author

Lugnier, Celine, primary, Sommerlatte, Sabine, additional, Attenberger, Ulrike, additional, Beer, Ambros J., additional, Bentz, Martin, additional, Benz, Stefan R., additional, Birkner, Thomas, additional, Büntzel, Jens, additional, Ebert, Matthias P.A., additional, Fasching, Peter, additional, Fischbach, Wolfgang, additional, Fokas, Emmanouil, additional, Fricke, Birgit, additional, Hense, Helene, additional, Grohmann, Erich, additional, Hofheinz, Ralf-Dieter, additional, Hüppe, Dietrich, additional, Huster, Stefan, additional, Jahn, Patrick, additional, Klinkhammer-Schalke, Monika, additional, Knauf, Wolfgang, additional, Kraeft, Anna-Lena, additional, Maier, Bernd Oliver, additional, Marckmann, Georg, additional, Niegisch, Günter, additional, Otto, Lutz, additional, Pelzer, Uwe, additional, Piso, Pompiliu, additional, Rosenau, Henning, additional, Schmitt, Jochen, additional, Schoffer, Olaf, additional, Sehouli, Jalid, additional, Tannapfel, Andrea, additional, Wedding, Ulrich, additional, Wesselmann, Simone, additional, Winkler, Eva C., additional, Zimmermann, Tanja, additional, Wörmann, Bernhard, additional, Reinacher-Schick, Anke, additional, and Schildmann, Jan, additional

Published
2024
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19. Technical assessment in minimally invasive complete mesocolic excision: Is the complete mesocolic excision competency assessment tool valid and reliable?

Author

Haug, Tora Rydtun, primary, Ørntoft, Mai‐Britt Worm, additional, Miskovic, Danilo, additional, Iversen, Lene Hjerrild, additional, Johnsen, Søren Paaske, additional, Valentin, Jan Brink, additional, Gómez Ruiz, Marcos, additional, Benz, Stefan, additional, Eeg Storli, Kristian, additional, Stearns, Adam T., additional, and Madsen, Anders Husted, additional

Published
2023
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20. Treatment of Colorectal Cancer in Certified Centers: Results of a Large German Registry Study Focusing on Long-Term Survival

Author

Völkel, Vinzenz, primary, Gerken, Michael, additional, Kleihues-van Tol, Kees, additional, Schoffer, Olaf, additional, Bierbaum, Veronika, additional, Bobeth, Christoph, additional, Roessler, Martin, additional, Reissfelder, Christoph, additional, Fürst, Alois, additional, Benz, Stefan, additional, Rau, Bettina M., additional, Piso, Pompiliu, additional, Distler, Marius, additional, Günster, Christian, additional, Hansinger, Judith, additional, Schmitt, Jochen, additional, and Klinkhammer-Schalke, Monika, additional

Published
2023
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33. A Comparison between Open and Minimally Invasive Right Hemicolectomies in Patients with Locally Advanced UICC Stage III Colon Cancer: A Protocol for a Systematic Review and an Individual Patient Data Meta-Analysis.

Author

Reitz, Jule, Lindner, Simon, Benz, Stefan, Schwarzer, Guido, Hetjens, Svetlana, Grilli, Maurizio, Reissfelder, Christoph, Seyfried, Steffen, and Herrle, Florian

Subjects
RIGHT hemicolectomy, COLON cancer, PATIENTS' rights, RESEARCH protocols, CLINICAL trials, MINIMALLY invasive procedures
Abstract

Despite the development of new technologies and multimodal therapies, improving the prognosis of patients with UICC stage III right colon adenocarcinoma remains challenging. Several randomized controlled trials have shown the oncological non-inferiority of minimally invasive surgery compared to open surgery for colon cancer patients. However, for UICC stage III patients, carrying the highest risk for local recurrence and the worst survival, the evidence remains inconclusive. The aim of this systematic review and individual patient data meta-analysis is to improve the scarce evidence regarding minimally invasive surgery for this subgroup of patients. Data from adult patients with pathologically UICC stage III right adenocarcinoma of the colon will be included. The intervention to be assessed is the minimally invasive right hemicolectomy in comparison with the open procedure. The primary outcome will be the 5-year overall survival. Secondary outcomes will include further long-term outcomes, such as disease-free survival, short term, and histological outcomes. Only randomized controlled trials and quasi-randomized controlled clinical trials will be included. The literature search will be conducted in the following databases: PubMed, CINAHL, Cochrane Trials, ClinicalTrials.gov, and Web of Science. The review will be performed using the Cochrane methodology including GRADE tools. The findings of this meta-analysis will be important for choosing optimal treatment pathways and tailoring of surgical therapy in patients with locally advanced UICC stage III right colon cancer. [ABSTRACT FROM AUTHOR]

Published
2023
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34. National implementation of an optimal standardised technique for right-sided colon cancer: protocol of an interventional sequential cohort study (Right study).

Author

Grüter, Alexander A. J., Coblijn, Usha K., Toorenvliet, Boudewijn R., Tanis, Pieter J., Tuynman, Jurriaan B., the Right Collaborators Group, Aselmann, Heiko, Belgers, Eric H.J., Belt, Eric J.T., Benz, Stefan, Croner, Roland S, van Duijvendijk, Peter, Fletcher, Jordan, Hoff, Christiaan, Hompes, Roel, Miskovic, Danilo, Smits, Anke B., Stearns, Adam T., Storli, Kristian E., and van de Ven, Anthony W.H.

Subjects
COLON cancer, SURGICAL complications, COHORT analysis, RIGHT hemicolectomy, OPERATIVE surgery, DELPHI method, SURGICAL excision
Abstract

Purpose: Minimally invasive right hemicolectomy (MIRH) is the cornerstone of treatment for patients with right-sided colon cancer. This operation has evolved during recent decades, with many innovations and improvements but this has also resulted in high variability of uptake with subsequent substantial variableness. The aim of this ongoing study is to identify current surgical variations, determine the most optimal and standardised MIRH and nationally train and implement that technique to improve short-term clinical and long-term oncological outcomes. Methods: The Right study is a national multicentre prospective interventional sequential cohort study. Firstly, current local practice was evaluated. Subsequently, a standardised surgical technique for right-sided colon cancer was determined using the Delphi consensus method, and this procedure was trained during hands-on courses. The standardised MIRH will be implemented with proctoring (implementation cohort), after which the performance will be monitored (consolidation cohort). Patients who will receive a minimally invasive (extended) right hemicolectomy for cT1-3N0-2M0 colon cancer will be included. The primary outcome is patient safety reflected in the 90-day overall complication rate according to the Clavien–Dindo classification. Secondary outcomes will include intraoperative complications, 90-day mortality rate, number of resected tumour-positive lymph nodes, completeness of mesocolic excision, surgical quality score, locoregional and distant recurrence and 5-year overall survival. A total number of 1095 patients (365 per cohort) will be included. Discussion: The Right study is designed to safely implement the best surgical practice concerning patients with right-sided colon cancer aiming to standardise and improve the surgical quality of MIRH at a national level. Trial registration: ClinicalTrials.gov: NCT04889456, May 2021. [ABSTRACT FROM AUTHOR]

Published
2023
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36. Outcomes from the EURATOM–ROSATOM ERCOSAM SAMARA projects on containment thermal-hydraulics for severe accident management

Author

Paladino, Domenico, Andreani, Michele, Guentay, Salih, Mignot, Guillaume, Kapulla, Ralf, Paranjape, Sidharth, Sharabi, Medhat, Kisselev, Arkadi, Yudina, Tatiana, Filippov, Aleksandr, Kamnev, Mikhail, Khizbullin, Akhmir, Tyurikov, Oleg, Liang, Zhe (Rita), Abdo, Daniele, Brinster, Jérôme, Dabbene, Frédéric, Kelm, Stephan, Klauck, Michael, Götz, Lasse, Gehr, Rebekka, Malet, Jeanne, Bentaib, Ahmed, Bleyer, Alexandre, Lemaitre, Pascal, Porcheron, Emmanuel, Benz, Stefan, Jordan, Thomas, Xu, Zhanjie, Boyd, Christopher, Siccama, Arne, and Visser, Dirk

Published
2016
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40. Development of a procedure-specific tool for skill assessment in left- and right-sided laparoscopic complete mesocolic excision

Author

Haug, Tora Rydtun, Miskovic, Danilo, Ørntoft, Mai-Britt Worm, Iversen, Lene Hjerrild, Johnsen, Søren Paaske, Valentin, Jan Brink, Gomez Ruiz, Marcos, Benz, Stefan, Storli, Kristian Eeg, Stearns, Adam T, Brigic, Adela, and Madsen, Anders Husted

Subjects
Uddannelsesforskning, tyktarmskræft, kirurgi
Abstract

AIM: To (1) develop an assessment tool for laparoscopic complete mesocolic excision (LCME) and (2) report evidence of its content validity.METHOD: Assessment statements were revealed through (1) semi-structured expert interviews and (2) consensus by the Delphi method, both involving an expert panel of five LCME surgeons. All experts were interviewed and then asked to rate LCME describing statements from 1 (strongly disagree) to 5 (strongly agree). Responses were returned anonymously to the panel until consensus was reached. Statements were directly included as content in the assessment tool if ≥60% of the experts responded "agree" or "strongly agree" (ratings 4 and 5), with the remaining responses being "neither agree nor disagree" (rating 3). Interclass correlation coefficient (ICC) was calculated for expert agreement evaluation. All included statements were subsequently reformulated as tool items and approved by the experts.RESULTS: Four Delphi rounds were performed to reach consensus. Disagreement was reported for statements describing instrument handling around pancreas; visualisation of landmarks before inferior mesenteric artery ligation; lymphadenectomy around the inferior mesenteric artery, and division of the terminal ileum and transverse colon. ICC in the last Delphi-round was 0.84. The final tool content included 73 statements, converted to 48 right- and 40 left-sided items for LCME assessment.CONCLUSION: A procedure-specific, video-based tool, named complete mesocolic excision competency assessment tool (CMECAT), has been developed for LCME skill assessment. In the future, we hope it can facilitate assessment of LCME surgeons, resulting in improved patient outcome after colon cancer surgery.

Published
2023

42. Versorgungsnahe Daten für Versorgungsanalysen – Teil 3 des Manuals.

Author

Veit, Christof, Bierbaum, Thomas, Wesselmann, Simone, Stock, Stephanie, Heidecke, Claus-Dieter, Apfelbacher, Christian, Benz, Stefan, Dreinhöfer, Karsten E., Hauptmann, Michael, Hoffmann, Falk, Hoffmann, Wolfgang, Kaiser, Thomas, Klinkhammer-Schalke, Monika, Koller, Michael, Kostuj, Tanja, Ortmann, Olaf, Schmitt, Jochen, Schünemann, Holger, and Geraedts, Max

Published
2023
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43. Versorgungsnahe Daten für Versorgungsanalysen – Teil 3 des Manuals

Author

Veit, Christof, additional, Bierbaum, Thomas, additional, Wesselmann, Simone, additional, Stock, Stephanie, additional, Heidecke, Claus-Dieter, additional, Apfelbacher, Christian, additional, Benz, Stefan, additional, Dreinhöfer, Karsten E., additional, Hauptmann, Michael, additional, Hoffmann, Falk, additional, Hoffmann, Wolfgang, additional, Kaiser, Thomas, additional, Klinkhammer-Schalke, Monika, additional, Koller, Michael, additional, Kostuj, Tanja, additional, Ortmann, Olaf, additional, Schmitt, Jochen, additional, Schünemann, Holger, additional, and Geraedts, Max, additional

Published
2022
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45. Outcome quality after colorectal cancer resection in Certified Colorectal Cancer Centers—patient-reported and short-term clinical outcomes

Author

Breidenbach, Clara, primary, Kowalski, Christoph, additional, Sibert, Nora Tabea, additional, Hagemeier, Anna, additional, Roth, Rebecca, additional, Wesselmann, Simone, additional, Seufferlein, Thomas, additional, Benz, Stefan, additional, Post, Stefan, additional, Siegel, Robert, additional, Wiegering, Armin, additional, Winkels, Raphael, additional, Bieck-Messemer, Stefanie, additional, Fahlke, Jörg, additional, Reissfelder, Christoph, additional, Fuchs, Martin, additional, Herzog, Torsten, additional, Weihrauch, Richard, additional, Faber-Mertens, Julia, additional, Rudolph, Hagen, additional, Puskás, László, additional, Kohlhaw, Kay, additional, Szczerbinska, Malgorzata, additional, Scheuerlein, Hubert, additional, Neumann, Philipp-Alexander, additional, Hollerbach, Stephan, additional, Riechmann, Maren, additional, Kolbe, Ernst W., additional, Weigert, Norbert, additional, Köninger, Jörg, additional, Klink, Christian, additional, Mussa, Shueb, additional, Horn, Anja-Kathrin, additional, Staib, Ludger, additional, Werner, Jens, additional, Jähne, Joachim, additional, MohaAly, -, additional, Mörk, Hubert, additional, Grützmann, Robert, additional, Piso, Pompilio, additional, and Dieng, Sebastian, additional

Published
2022
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