Accuracy of Optical Localizers for Computer Aided Surgery

Elfring, Robert; Fuente, M. de la; Radermacher, Klaus

doi:10.1007/978-3-642-03906-5_90

Cited by 4 publications

(4 citation statements)

References 2 publications

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“…NDI HPS is an optical measurement system that collects the space coordinates of passive markers affixed to the application-specific tool, and the accuracy of tracked passive markers is 0.25 mm root mean square [30]. With the help of HPS, the position and orientation of tools can be determined.…”

Section: Apparatusmentioning

confidence: 99%

Driver fatigue evaluation model with integration of multi‐indicators based on dynamic Bayesian network

Wei

Fan

et al. 2015

IET Intelligent Transport Systems

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Electroencephalogram (EEG) data are an effective indicator to evaluate driver fatigue, but it is usually disturbed by noise. The frequent head nodding, as well as the time of day and total driving time, also have very close relationship with driver fatigue. All these factors should be taken into account for comprehensive driver fatigue evaluation. 50 drivers are recruited to take part in the fatigue-oriented experiment on the driving simulator. Based on the EEG samples, the EEGbased indicator of driver fatigue has been established by artificial neural network. Subsequently, a new algorithm is present to compute the head nodding angle with posture data from the passive tools fixed on the driver's head and trunk, respectively, and then head-based indicator of driver fatigue is determined. Finally, a new evaluation model of driver fatigue is established with integration of four fatigue-based indicators with DBN (Dynamic Bayesian Network). The results show that it is more accurate to evaluate the driver fatigue compared with the sole EEG-based indicator.

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Section: Apparatusmentioning

confidence: 99%

Driver fatigue evaluation model with integration of multi‐indicators based on dynamic Bayesian network

Wei

Fan

et al. 2015

IET Intelligent Transport Systems

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“…The handedness of the found constellation is investigated by calculating the determinant of the viewing directions of the first, fifth, and third entry of the current square candidate. If this determinant is negative, the square IDs are stored clockwise and have to be resorted as follows: 7 The last step of the algorithm determines the type of the square tracker by investigating which outer markers are tagged by the tagging markers of the two side triplets (see Fig. 4 right):…”

Section: Combining Tripletsmentioning

confidence: 99%

“…A thorough comparison of Stryker's FP 6000 (used in "Peerto-peer tracking versus Stryker FP 6000" section) against a coordinate measurement machine can be found in [7]. Elfring et al conclude that the Stryker camera exhibits best-in-class accuracy with a trueness of 0.07 mm.…”

Section: Peer-to-peer Tracking Versus Ground Truthmentioning

confidence: 99%

Fast, robust, and accurate monocular peer-to-peer tracking for surgical navigation

et al. 2020

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Purpose This work presents a new monocular peer-to-peer tracking concept overcoming the distinction between tracking tools and tracked tools for optical navigation systems. A marker model concept based on marker triplets combined with a fast and robust algorithm for assigning image feature points to the corresponding markers of the tracker is introduced. Also included is a new and fast algorithm for pose estimation. Methods A peer-to-peer tracker consists of seven markers, which can be tracked by other peers, and one camera which is used to track the position and orientation of other peers. The special marker layout enables a fast and robust algorithm for assigning image feature points to the correct markers. The iterative pose estimation algorithm is based on point-to-line matching with Lagrange-Newton optimization and does not rely on initial guesses. Uniformly distributed quaternions in 4D (the vertices of a hexacosichora) are used as starting points and always provide the global minimum. Results Experiments have shown that the marker assignment algorithm robustly assigns image feature points to the correct markers even under challenging conditions. The pose estimation algorithm works fast, robustly and always finds the correct pose of the trackers. Image processing, marker assignment, and pose estimation for two trackers are handled in less than 18 ms on an Intel i7-6700 desktop computer at 3.4 GHz. ConclusionThe new peer-to-peer tracking concept is a valuable approach to a decentralized navigation system that offers more freedom in the operating room while providing accurate, fast, and robust results.

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“…Particularly mobile measuring systems based on infrared stereophotogrammetry could be established in several industrial and clinical application areas. [2], [14] In principle the described available measuring systems are sufficient to determine the current position of the patient couch in the working space with adequate accuracy. Furthermore supplementary equipment is available for most systems enabling automatic measuring of the orientation.…”

Section: A Sensor Systems For Pose Measuring Of Robotsmentioning

confidence: 99%

A cost-effective stereo camera system for online pose control of patient handling robots

Ziegler

Franke

2011

The 5th International Conference on Automation, Robotics and Applications

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Patient handling robots are employed more and more frequently to enable a flexible positioning of the patient for diagnostic and therapeutic purposes. Due to the greatly differing robot loads because of varying patient weights especially serial kinematics are no longer able to keep up with the constantly increasing medical demands for positioning accuracy. In this paper a camera-based measuring system is introduced which can measure the pose of a patient couch mounted on a patient handling robot with high accuracy. Through the use of costeffective hardware components the stereoscopic system is suitable for a permanent integration into the workspace of the robot. This enables online pose control of the patient couch. In tests on a robot system a maximum positioning error of 0.25 mm was achieved for a diversity of medically relevant poses.

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Accuracy of Optical Localizers for Computer Aided Surgery

Cited by 4 publications

References 2 publications

Driver fatigue evaluation model with integration of multi‐indicators based on dynamic Bayesian network

Driver fatigue evaluation model with integration of multi‐indicators based on dynamic Bayesian network

Fast, robust, and accurate monocular peer-to-peer tracking for surgical navigation

A cost-effective stereo camera system for online pose control of patient handling robots

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