Diploma thesis
Marker-based inside-out tracking for medical applications using a single optical cameraThesis by: Shih Chen-Hsuan
Advisor: Prof. Nassir Navab
Supervision by: Philipp Matthies and Dr. Benjamin Frisch
Abstract
Nowadays, tracking and navigation for small imaging systems are performed mainly by devices based on infrared cameras or electromagnetic fields. These systems impose some disadvantages for the use with freehand devices such as gamma cameras or ultrasound probes: a separate system for “Outside-in” tracking is needed, which causes the main issue of a required line-of-sight between the tracking system and the tool to be tracked in the surgical environment. To solve this problem, the idea is to have a small add-on system attached to the devices being tracked. The add-on system contains of an optical camera to track several markers that are attached to the patient and calculate the inverse trajectory, i.e. the movement of the device. The idea of this project is to develop a tracking software, the “inside-out” tracking technique, with the required data set to have more accurate tracking and image fusion process. An algorithm for multi marker tracking and calculation of "best pose” will be implemented and the problems of illumination, occlusion, and stability will be addressed. Finally, the accuracy will be evaluated and compared to other tracking modalities, especially optical and electro-magnetical tracking.
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| Title: | Marker-based inside-out tracking for medical applications using a single optical camera |
| Abstract: | Nowadays, tracking and navigation for small imaging systems are performed mainly by devices based on infrared cameras or electromagnetic fields. These systems impose some disadvantages for the use with freehand devices such as gamma cameras or ultrasound probes: a separate system for “Outside-in” tracking is needed, which causes the main issue of a required line-of-sight between the tracking system and the tool to be tracked in the surgical environment. To solve this problem, the idea is to have a small add-on system attached to the devices being tracked. The add-on system contains of an optical camera to track several markers that are attached to the patient and calculate the inverse trajectory, i.e. the movement of the device. The idea of this project is to develop a tracking software, the “inside-out” tracking technique, with the required data set to have more accurate tracking and image fusion process. An algorithm for multi marker tracking and calculation of "best pose” will be implemented and the problems of illumination, occlusion, and stability will be addressed. Finally, the accuracy will be evaluated and compared to other tracking modalities, especially optical and electro-magnetical tracking. |
| Student: | Shih Chen-Hsuan |
| Director: | Nassir Navab |
| Supervisor: | Philipp Matthies Benjamin Frisch |
| Type: | Master Thesis |
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| Status: | finished |
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