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Proceedings Paper

Technical note: design and validation of an open-source library of dynamic reference frames for research and education in optical tracking
Author(s): A. Brown; A. Uneri; T. De Silva; A. Manbachi; J. H. Siewerdsen
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Paper Abstract

Purpose: Dynamic reference frames (DRFs) are a common component of surgical tracking systems, but there is a limited number of commercially available, valid tool designs, presenting a limitation to researchers in image-guided surgery and other communities. This work presents the development and validation of a large, open-source library of DRFs for passive optical tracking systems. Methods: Ten groups of DRF designs were generated according to an algorithm based on intra- and inter-tool design constraints. Validation studies were performed using a Polaris Vicra tracker (NDI) to compare the performance of each DRF in group A to a standard commercially available reference tool, including: tool-tip pivot calibration and measurement of fiducial registration error (FRE) on a computercontrolled bench Results: The resulting library of DRFs includes 10 groups - one with 10 DRFs and nine with 6. Each group includes one tool geometrically equivalent to a common commercially available DRF (NDI #8700339). Fiducial registration error (FRE) was 0.15 ± 0.03 mm, indistinguishable from the reference. Conclusions: The library of custom DRF designs perform equivalently to common, commercially available reference DRFs and present a multitude of distinct, simultaneously-trackable DRF designs. The open-source library contains files suitable to 3D printing as well as tool definition files ready to download for research purposes.

Paper Details

Date Published: 13 March 2018
PDF: 7 pages
Proc. SPIE 10576, Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling, 105760M (13 March 2018); doi: 10.1117/12.2322412
Show Author Affiliations
A. Brown, Johns Hopkins Univ. (United States)
A. Uneri, Johns Hopkins Univ. (United States)
T. De Silva, Johns Hopkins Univ. (United States)
A. Manbachi, Johns Hopkins Univ. (United States)
J. H. Siewerdsen, Johns Hopkins Univ. (United States)


Published in SPIE Proceedings Vol. 10576:
Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling
Baowei Fei; Robert J. Webster, Editor(s)

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