Vasileios Lahanas1, Constantinos Loukas2, Evangelos Georgiou2. 1. Medical Physics Laboratory Simulation Centre, School of Medicine, University of Athens, Mikras Asias St. 75, 11527, Athens, Greece. vlahanas@med.uoa.gr. 2. Medical Physics Laboratory Simulation Centre, School of Medicine, University of Athens, Mikras Asias St. 75, 11527, Athens, Greece.
Abstract
INTRODUCTION: The aim of this study was to describe a simple and easy-to-use calibration method that is able to estimate the pose (tip position and orientation) of a rigid endoscopic instrument with respect to an electromagnetic tracking device attached to the handle. METHODS: A two-step calibration protocol was developed. First, the orientation of the instrument shaft is derived by performing a 360° rotation of the instrument around its shaft using a firmly positioned surgical trocar. Second, the 3D position of the instrument tip is obtained by allowing the tip to come in contact with a planar surface. RESULTS: The results indicate submillimeter accuracy in the estimation of the tooltip position, and subdegree accuracy in the estimation of the shaft orientation, both with respect to a known reference frame. The assets of the proposed method are also highlighted by illustrating an indicative application in the field of augmented reality simulation. CONCLUSIONS: The proposed method is simple, inexpensive, does not require employment of special calibration frames, and has potential applications not only in training systems but also in the operating room.
INTRODUCTION: The aim of this study was to describe a simple and easy-to-use calibration method that is able to estimate the pose (tip position and orientation) of a rigid endoscopic instrument with respect to an electromagnetic tracking device attached to the handle. METHODS: A two-step calibration protocol was developed. First, the orientation of the instrument shaft is derived by performing a 360° rotation of the instrument around its shaft using a firmly positioned surgical trocar. Second, the 3D position of the instrument tip is obtained by allowing the tip to come in contact with a planar surface. RESULTS: The results indicate submillimeter accuracy in the estimation of the tooltip position, and subdegree accuracy in the estimation of the shaft orientation, both with respect to a known reference frame. The assets of the proposed method are also highlighted by illustrating an indicative application in the field of augmented reality simulation. CONCLUSIONS: The proposed method is simple, inexpensive, does not require employment of special calibration frames, and has potential applications not only in training systems but also in the operating room.
Authors: J B Pagador; L F Sánchez; J A Sánchez; P Bustos; J Moreno; F M Sánchez-Margallo Journal: Int J Comput Assist Radiol Surg Date: 2010-07-02 Impact factor: 2.924
Authors: Wolfgang Kunert; Carolin Land; Manuel Braun; Johannes Reichold; Andreas Kirschniak; Claudius Falch Journal: Surg Endosc Date: 2019-05-21 Impact factor: 4.584