Marker-Based Surgical Instrument Tracking Using Dual Kinect Sensors

作者：Ren Hongliang^*; Liu Wei; Lim Andy

来源：IEEE Transactions on Automation Science and Engineering, 2014, 11(3): 921-924.

DOI：10.1109/TASE.2013.2283775

• Kinect sensor
• navigated surgery
• optical tracking
• tracking

This paper presents a passive-marker-based optical tracking system utilizing dual Kinect sensors and additional custom optical tracking components. To obtain sub-millimeter tracking accuracy, we introduce robust calibration of dual infrared sensors and point correspondence establishment in a stereo configuration. The 3D localization is subsequently accomplished using multiple back projection lines. The proposed system extends existing inexpensive consumer electronic devices, implements tracking algorithms, and shows the feasibility of applying the proposed low-cost system to surgical training for computer assisted surgeries.
Note to Practitioners-This paper is motivated by the scarcity of tracking devices for the training of novices in computer-assisted and navigated surgeries. Reliable and low-cost tracking systems are important to ensure easily available surgical training outside operating rooms. The current off-the-shelf tracking systems have been employed in operating rooms for tracking surgical instruments, typically with submillimeter accuracy, but they are highly expensive and require extensive preparation prior to surgery. Hence, the proposed cost-effective tracking system aims to bridge the gap and enable general trainees to learn computer assisted surgery, which is otherwise only available in a limited number of labs or operating rooms.

• 出版日期2014-7