Int J Comput Assist Radiol Surg - Optical coordinate tracking system using afocal optics for image-guided surgery.

Tópicos

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Resumo

RPOSE: Image-guided surgery using medical robots supports surgeons by providing critical real-time feedback information, such as surgical instrument tracking, patient-specific models, and the use of surgery robots. An image-guided surgery system based on afocal optics was developed to overcome the problems associated with conventional optical tracking systems.METHOD: An optical tracking system was developed that utilizes afocal optics. Instead of using geometrically specified marker spheres as tracking targets, the proposed system uses a marker with a lens and a micro-engraved data-coded pattern. A position and orientation-tracking algorithm was developed to utilize the observed afocal images of the marker patterns. The marker used in this tracking system can be manufactured in a smaller size than traditional optical tracker markers, and the accuracy of the proposed tracking system has significant potential for improvement due to its focused and highly magnified image. The system was tested in vitro on an optical bench with position and orientation measurement experiments using a commercial optical tracker, Polaris Vicra (NDI Corp.) for comparison.RESULTS: The afocal optical system provided accuracy in position and orientation that was equal or better than a commercial optical tracker system, and provided a high degree of consistency during in vitro testing. The position error was 21? m, and the orientation error was 0.093?.CONCLUSION: An afocal optical tracker is feasible and potentially advantageous for surgical navigation, as it is expected to have fewer occlusions and provide greater efficiency for coordinate matching and tracking of patient-specific models, surgical instruments, and surgery robots. This promising new system requires in vivo testing.

Resumo Limpo

rpose imageguid surgeri use medic robot support surgeon provid critic realtim feedback inform surgic instrument track patientspecif model use surgeri robot imageguid surgeri system base afoc optic develop overcom problem associ convent optic track systemsmethod optic track system develop util afoc optic instead use geometr specifi marker sphere track target propos system use marker len microengrav datacod pattern posit orientationtrack algorithm develop util observ afoc imag marker pattern marker use track system can manufactur smaller size tradit optic tracker marker accuraci propos track system signific potenti improv due focus high magnifi imag system test vitro optic bench posit orient measur experi use commerci optic tracker polari vicra ndi corp comparisonresult afoc optic system provid accuraci posit orient equal better commerci optic tracker system provid high degre consist vitro test posit error m orient error conclus afoc optic tracker feasibl potenti advantag surgic navig expect fewer occlus provid greater effici coordin match track patientspecif model surgic instrument surgeri robot promis new system requir vivo test

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