Chen Elvis C S, Ma Burton, Peters Terry M
Robarts Research Institute, Western University, London, ON, Canada.
Department of Electrical Engineering and Computer Science, York University, Toronto, ON, Canada.
Int J Comput Assist Radiol Surg. 2017 Jul;12(7):1231-1241. doi: 10.1007/s11548-017-1576-7. Epub 2017 Apr 6.
We present a laser-based, contact-less, stylus for the purpose of fiducial registration and digitization in the context of surgical navigation.
We augmented a laser pointer with a spatial measurement device and used the laser beam as a means to locate a fiducial in 3D space. We developed a method for calibrating the orientation of the laser beam with respect to its attached tracking target. Digitization of a fiducial was formulated as a line intersection problem, and registration was formulated as a point-to-line registration problem.
We achieved an RMS fiducial localization error of 0.63 mm for 151 measurements of 12 fiducial markers. Mean TRE values of less than 1.5 mm over the entire surface of a lumbar vertebra were achievable using 4 fiducial markers. We found that contact-based rigid registration performed carefully under near-ideal conditions outperforms contact-less registration in terms of TRE.
An inexpensive contact-less stylus can be used to obtain accurate fiducial registration, which can be performed without explicit fiducial digitization.
我们提出一种基于激光的非接触式手写笔，用于手术导航中的基准配准和数字化。
我们用空间测量设备增强了激光指示器，并使用激光束作为在三维空间中定位基准的手段。我们开发了一种校准激光束相对于其附着的跟踪目标的方向的方法。基准的数字化被表述为线相交问题，配准被表述为点到线的配准问题。
对于12个基准标记的151次测量，我们实现了均方根基准定位误差为0.63毫米。使用4个基准标记，在腰椎整个表面上平均配准误差值小于1.5毫米是可以实现的。我们发现，在接近理想条件下仔细执行的基于接触的刚性配准在配准误差方面优于非接触式配准。
一种廉价的非接触式手写笔可用于获得精确的基准配准，且无需明确的基准数字化即可执行。
