An Accurate Recognition of Infrared Retro-Reflective Markers in Surgical Navigation

Wu, Han; Lin, Qinyong; Yang, Rongqian; Zhou, Yuan; Li, Zheng; Huang, Yueshan; Wang, Zhigang; Lao, Yonghua; Huang, Jinhua

doi:10.1007/s10916-019-1257-x

Cited by 17 publications

(6 citation statements)

References 26 publications

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“…Then, the self‐developing NIOL and fiducial markers are used for spatial postural tracking, and the tracking error is less than 0.12 mm 28 . In order to improve the accuracy and real‐time performance of tracking of spatial posture of puncture needle, as shown in Figure 4, the optical tracking module is composed of two tracking tools.…”

Section: Methodsmentioning

confidence: 99%

“…Then, the self-developing NIOL and fiducial markers are used for spatial postural tracking, and the tracking error is less than 0.12 mm. 28 In order to improve the accuracy and real-time performance of tracking of spatial posture of puncture needle, as shown in Figure 4, the optical tracking module is composed of two tracking tools. Tracking tool 2 completes the hand-eye calibration between the robot and NIOL to obtain the postural transformation between each coordinate system (CSM) in the whole system, and tool 1 is applied to obtain the information of needle's posture.…”

Section: Design Of the End Effector With Optical And Mechanical Feedb...mentioning

confidence: 99%

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A robotic puncture system with optical and mechanical feedback under respiratory motion

Zhang

Bao

et al. 2022

Robotics Computer Surgery

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Puncture robot can improve the accuracy and efficiency of puncture surgery, such as thoracoabdominal and liver puncture. However, as soft tissue is deformed and shifted under respiratory motion and during the puncture process, the needle is pulled, resulting in the needle's bending and deformation, which increases the risks and sufferings of the patient, a robotic puncture system with optical and mechanical feedback is necessary. Therefore, this paper proposes a multi-information sensing 'guide-clamp' end effector for puncture surgery to accurately detect the posture and force on the puncture needle in real time. And gravity bias method with trajectory planning and the compensational controlling model are also proposed to offset the interference of self-weight and achieve zero force following. This system is evaluated by the experiments of robot controlling and human tissue simulation and the results prove the excellent robustness of the system, which meet the clinical requirement.

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Section: Methodsmentioning

confidence: 99%

Section: Design Of the End Effector With Optical And Mechanical Feedb...mentioning

confidence: 99%

A robotic puncture system with optical and mechanical feedback under respiratory motion

Zhang

Bao

et al. 2022

Robotics Computer Surgery

Self Cite

View full text Add to dashboard Cite

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“…Traditional circular markers are used for visual measurement and medical navigation, and the angle is generally no more than 30° [19,35,36]. The marker designed in this paper can still maintain high positioning accuracy, even the angle reaches 60°.…”

Section: Positioning Experiments At Different Positionsmentioning

confidence: 95%

High Precision Optical Tracking System Based on near Infrared Trinocular Stereo Vision

Zou

et al. 2021

Sensors

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A high precision optical tracking system (OTS) based on near infrared (NIR) trinocular stereo vision (TSV) is presented in this paper. Compared with the traditional OTS on the basis of binocular stereo vision (BSV), hardware and software are improved. In the hardware aspect, a NIR TSV platform is built, and a new active tool is designed. Imaging markers of the tool are uniform and complete with large measurement angle (>60°). In the software aspect, the deployment of extra camera brings high computational complexity. To reduce the computational burden, a fast nearest neighbor feature point extraction algorithm (FNNF) is proposed. The proposed method increases the speed of feature points extraction by hundreds of times over the traditional pixel-by-pixel searching method. The modified NIR multi-camera calibration method and 3D reconstruction algorithm further improve the tracking accuracy. Experimental results show that the calibration accuracy of the NIR camera can reach 0.02%, positioning accuracy of markers can reach 0.0240 mm, and dynamic tracking accuracy can reach 0.0938 mm. OTS can be adopted in high-precision dynamic tracking.

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“…Known spatial relationships between markers and instruments can be used to determine the pose of the instrument, allowing tracking accuracies in submillimeter range. 5,6 While the tracking accuracy of EMTS can be heavily distorted by the influence of ferromagnetic material within the operation room as well as other disturbances in the generated electromagnetic field, the main challenge to tackle for OTS is the line-of-sight issue. 4 OTS are disrupted in their function as soon as the camera-setup is unable to locate the marker, which can be due caused by accidental occlusion or contamination during a surgical procedure.…”

Section: Introductionmentioning

confidence: 99%

Towards optimal camera positioning for navigated surgery applications based on RGBD data

Gehrmann,

Koller,

Klein

2024

Medical Imaging 2024: Image-Guided Procedures, Robotic Interventions, and Modeling

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Surgical Navigation Systems have significantly enhanced surgical procedures by enabling computer-aided position tracking of medical instruments and the patient's body. Optical Tracking Systems (OTS) have emerged as the leading technology, relying on infrared retroreflective markers for instrument recognition. However, lineof-sight issues, caused by marker occlusion or contamination during surgery, present a significant challenge for OTS. To overcome these limitations, a novel approach is proposed, aiming to eliminate the need for markers and instead employing multiple RGBD-cameras integrated with AI-based techniques and optical-geometrical postprocessing to achieve precise instrument tracking. This paper introduces a simulation utilizing real surgery data to assess occlusions and evaluate visibility during navigated surgery. By capturing depth data with cameras, a realistic occlusion model is constructed, enabling the analysis of visibility in various surgical scenarios. The "task occlusion score" (TOS) is introduced to measure the average occlusion of the target instrument during surgery. Interestingly, the evaluation on a multi-view operating room dataset reveals that optimal camera placement for instrument visibility is above the situs, contrary to conventional setups above the patient's head or feet. The visibility simulation based on real depth data holds potential for enhancing navigated surgery usability. It offers the opportunity to explore visibility in scenarios with moving instruments, different handle shapes, camera models, and positions, without the need for exhaustive real-life tests. This promising technology not only benefits marker-less systems but also provides optimization possibilities for marker-based systems through various marker geometries. Future expansions could extend the simulation to optimize not only visibility but also tracking accuracy with multiple cameras, leveraging existing optimization techniques and metrics from the literature. Ultimately, this approach has the potential to revolutionize navigated surgery, leading to improved surgical outcomes and patient care.

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An Accurate Recognition of Infrared Retro-Reflective Markers in Surgical Navigation

Cited by 17 publications

References 26 publications

A robotic puncture system with optical and mechanical feedback under respiratory motion

A robotic puncture system with optical and mechanical feedback under respiratory motion

High Precision Optical Tracking System Based on near Infrared Trinocular Stereo Vision

Towards optimal camera positioning for navigated surgery applications based on RGBD data

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