Virtual rigid body: A new optical tracking paradigm in image-guided interventions

Alexis Cheng, David S. Lee, Nishikant Deshmukh, Emad M. Boctor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Tracking technology is often necessary for image-guided surgical interventions. Optical tracking is one the options, but it suffers from line of sight and workspace limitations. Optical tracking is accomplished by attaching a rigid body marker, having a pattern for pose detection, onto a tool or device. A larger rigid body results in more accurate tracking, but at the same time large size limits its usage in a crowded surgical workspace. This work presents a prototype of a novel optical tracking method using a virtual rigid body (VRB). We define the VRB as a 3D rigid body marker in the form of pattern on a surface generated from a light source. Its pose can be recovered by observing the projected pattern with a stereo-camera system. The rigid body's size is no longer physically limited as we can manufacture small size light sources. Conventional optical tracking also requires line of sight to the rigid body. VRB overcomes these limitations by detecting a pattern projected onto the surface. We can project the pattern onto a region of interest, allowing the pattern to always be in the view of the optical tracker. This helps to decrease the occurrence of occlusions. This manuscript describes the method and results compared with conventional optical tracking in an experiment setup using known motions. The experiments are done using an optical tracker and a linear-stage, resulting in targeting errors of 0.38mm±0.28mm with our method compared to 0.23mm±0.22mm with conventional optical markers. Another experiment that replaced the linear stage with a robot arm resulted in rotational errors of 0.50±0.31° and 2.68±2.20° and the translation errors of 0.18±0.10 mm and 0.03±0.02 mm respectively.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2015
Subtitle of host publicationImage-Guided Procedures, Robotic Interventions, and Modeling
EditorsRobert J. Webster, Ziv R. Yaniv
PublisherSPIE
ISBN (Electronic)9781628415056
DOIs
StatePublished - 2015
EventMedical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling - Orlando, United States
Duration: Feb 22 2015Feb 24 2015

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
Volume9415
ISSN (Print)1605-7422

Other

OtherMedical Imaging 2015: Image-Guided Procedures, Robotic Interventions, and Modeling
Country/TerritoryUnited States
CityOrlando
Period2/22/152/24/15

Keywords

  • Augmented reality
  • Optical tracking
  • Structured light
  • Virtual rigid body

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Atomic and Molecular Physics, and Optics
  • Radiology Nuclear Medicine and imaging

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