Technical note: Design and validation of an open-source library of dynamic reference frames for research and education in optical tracking

Purpose: Dynamic reference frames (DRFs) are a common component of surgical tracking systems, but there is a limited number of commercially available, valid tool designs, presenting a limitation to researchers in image-guided surgery and other communities. This work presents the development and validation of a large, open-source library of DRFs for passive optical tracking systems. Methods: Ten groups of DRF designs were generated according to an algorithm based on intra-and inter-Tool design constraints. Validation studies were performed using a Polaris Vicra tracker (NDI) to compare the performance of each DRF in group A to a standard commercially available reference tool, including: Tool-Tip pivot calibration and measurement of fiducial registration error (FRE) on a computercontrolled bench Results: The resulting library of DRFs includes 10 groups-one with 10 DRFs and nine with 6. Each group includes one tool geometrically equivalent to a common commercially available DRF (NDI #8700339). Fiducial registration error (FRE) was 0.15 ± 0.03 mm, indistinguishable from the reference. Conclusions: The library of custom DRF designs perform equivalently to common, commercially available reference DRFs and present a multitude of distinct, simultaneously-Trackable DRF designs. The open-source library contains files suitable to 3D printing as well as tool definition files ready to download for research purposes.