Intracorporeal Optical Tracking of Instruments Using Cylindrical Marker for Minimally Invasive Surgery

• Main Authors: Yen-Hsiang Tseng, 曾彥翔
• Other Authors: Yung-Yaw Chen
• Format: Others
• Language: zh-TW
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/90391163749258128091

碩士 === 國立臺灣大學 === 電機工程學研究所 === 102 === Objectives: The aim of this thesis is to create an intracorporeal optical tracking system using cylindrical marker for minimally invasive surgery. The main function is to localize and to track the tracked objects, providing positions of the tracked objects, which can be used in other applications, like augmented reality and risk warning. Methods: Based on the intracorporeal optical tracking system proposed in 2013, shape of marker is improved from square to cylinder. In original system, it’s necessary to attach a rectangular module rigidly to the tracked object. And the square marker can be affixed to the rectangular module. However, sharp edges of the rectangular module may give rise to unnecessary damages to tissues when it touches tissues in surgery. The cylindrical marker is affixed to a cylindrical module with no sharp edges. Hence, it can reduce unnecessary damages to tissues. Because using cylindrical marker to achieve tracking work is a novel idea, a specific algorithm to detect cylindrical marker is proposed in this thesis. Results: The experiments shows that the mean error of tracking accuracy of the proposed system is 2.7 mm in observation distance from 75 to 150 mm, which is less than the maximal safe distance: 20 mm in minimally invasive surgery. Conclusions: The novel optical tracking system proposed in this thesis using cylindrical marker can achieve tracking work for minimally invasive surgery. The system has three advantages: reducing unnecessary damages to tissues, feasibility to penetrate smaller trocar, and preserving advantages of intracorporeal optical tracking system, including shorter observation distance and simpler coordinate system to reduce errors caused by coordinate transformation.