Marker-based quadri-ocular tracking system for surgery

Author(s): Q. He ; N. Wei ; B. Li ; C. Hu ; M.Q.-H. Meng
DOI: 10.1049/iet-cvi.2011.0059

For access to this article, please select a purchase option:

Buy article PDF

Buy Knowledge Pack

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership

Recommend Title Publication to library

IET Computer Vision — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

Author(s): Q. He ¹ ; N. Wei ¹ ; B. Li ¹ ; C. Hu ^{1, 2} ; M.Q.-H. Meng ^{1, 3}
- Affiliations: 1: Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, People's Republic of China
  2: College of Information, Ningbo Institute of Technology, Zhejiang University, Ningbo, People's Republic of China
  3: Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, People's Republic of China
Source: Volume 6, Issue 5, September 2012, p. 435 – 441
DOI: 10.1049/iet-cvi.2011.0059 , Print ISSN 1751-9632, Online ISSN 1751-9640

This study presents a quadri-ocular tracking system, which is based on PC and infrared reflective markers, for a spine surgical robot. The authors mainly focus on four tasks of the system. First of all, a two-step strategy for point correspondence of the multi-ocular system is introduced. The strategy enhances the traditional epipolar constrain for a bi-ocular system, and it decomposes the point correspondence of the multi-ocular system into several bi-ocular systems and corresponding steps to improve the speed of the system. Second, this paper proposes a fast algorithm of three-dimensional point reconstruction based on the perpendicular feet of back-projection lines. A marker constraint is also dug up to solve the combination problem of target recognition. Finally, this study uses a generalised inverse and singular value decomposition-based method to locate the pose of the target. The experiments show that the speed and accuracy of the system are satisfactory.

References

1. 1)
  - van Liere, R., Mulder, J.D.: `Optical tracking using projective invariant marker pattern properties', Proc. IEEE Virtual Reality, 2003, 22–26 March 2003, p. 191.
2. 2)
  - He, Q., Wei, N., Liu, W., Hu, C., Meng, Q.H.: `A method for 3D-point reconstruction in multi-vision based on perpendicular foot', 2011 World Congress on Intelligent Control and Automation, p. 147–151.
3. 3)
  - Yaniv, Z., Cleary, K.: `Image-guided procedures: a review', CAIMR TR-2006-3, Technical, 2006.
4. 4)
  - P. Gabbur , H. Hua , K. Barnard . A fast connected components labeling algorithm and its application to real-time pupil detection. Mach. Vis. Appl. , 779 - 787
5. 5)
  - Zhou, P., Liu, Y., Wang, Y.: `Multiple infrared markers based real-time stereo vision positioning system for surgical navigation', IEEE Instrumentation and Measurement Technology Conf., IMTC'09, 5–7 May 2009, p. 692–696.
6. 6)
  - Bartoli, A.: `A unified framework for quasi-linear bundle adjustment', 16thInt. Conf. on Pattern Recognition (ICPR'02), 2002, 2, p. 20560.
7. 7)
  - Galo, M., Tozzi, C.L.: `The concept of matching parallelepiped and its use in the correspondence problem', Int. Conf. on Image Processing, 1999, 4, p. 410–414.
8. 8)
  - J.A. Denton , J. Ross Beveridge . An algorithm for projective point matching in the presence of spurious points. Pattern Recognit. , 2 , 586 - 595
9. 9)
  - Zhang, Z.: `Flexible camera calibration by viewing a plane from unknown orientation', Proc. IEEE Int. Conf. on Computer Vision, September 1999, Corfu, Greece, p. 666–673.
10. 10)
  - K. Dorfmuller . Robust tracking for augmented reality using retroreflective markers. Comput. Graph. , 6 , 795 - 800
11. 11)
  - Beardsley, P.A., Zisserman, A., Murray, D.W.: `Sequential updating of projective and affine structure from motion', Report, 1994.
12. 12)
  - van Liere, R., van Rhijn, A.: `An experimental comparison of three optical trackers for model based pose determination in virtual reality', Proc. Eurographics Symp. on Virtual Environments, June 2004, p. 25–34.
13. 13)
  - H.C. Longuet-Higgins . A computer algorithm for reconstructing a scene from two projections. Nature , 5828 , 133 - 135
14. 14)
  - Z. Zhang . Determining epipolar geometry and its uncertainty: a review. Int. J. Comput. Vis. , 2 , 161 - 195
15. 15)
  - W.K. Leow , Z. Huang , Y. Zhang , R. Setiono . Rapid 3D model acquisition from images of small objects. Proc. Geometric Modeling and Processing
16. 16)
  - W.L. Li , Z.P. Yin , Y.A. Huang , Y.L. Xiong . Three-dimensional point-based shape registration algorithm based on adaptive distance function. IET Comput. Vis. , 1 , 68 - 76
17. 17)
  - Zhang, J., Shi, F., Liu, Y.: `Motion segmentation by multi-body trifocal tensor using line correspondence', 18thInt. Conf. on Pattern Recognition, ICPR 2006, 2006, 1, p. 599–602.
18. 18)
  - P. Jimenez , J. Nuevo , L.M. Bergasa , M.A. Sotelo . Face tracking and pose estimation with automatic three-dimensional model construction. IET Comput. Vis. , 2 , 93 - 102
19. 19)
  - S. Basah , A. Bab-Hadiashar , R. Hoseinnezhad . Conditions for motion-background segmentation using fundamental matrix. IET Comput. Vis. , 4 , 189 - 200
20. 20)
  - D. Marr , T. Poggi . A computational theory of human stereo vision. Proc. R. Soc. London B , 301 - 328
21. 21)
  - R. Vidal , R. Hartley . Three-view multi-body structure from motion. IEEE Trans. Pattern Anal. Mach. Intell. , 2 , 214 - 227
22. 22)
  - T.D. Alter . 3-D pose from 3 points using weak-perspective. IEEE Trans. Pattern Anal. Mach. Intell. , 8 , 802 - 808
23. 23)
  - Ribo, M., Pinz, A., Fuhrmann, A.: `A new optical tracking system for virtual and augmented reality applications', Proc. IEEE Instrumentation and Measurement Technical Conf., 2001, Budapest, Hungary, 3, p. 1932–1936.
24. 24)
  - Byröd, M., Josephson, K.: `Fast optimal three view triangulation', Proc. Asian Conf. on Computer Vision (ACCV), 2007, Tokyo, Japan.
25. 25)
  - D.B. Goldgof , H. Lee , T.S. Huang . Matching and motion estimation of three-dimensional point and line sets using eigen-structure without correspondences. Pattern Recognit. , 3 , 271 - 286
26. 26)
  - He, Q., Liu, W., Hu, C.: `The fast method of point positioning in multi-vision system', 2010 IEEE Int. Conf. on Robotics and Biomimetics, p. 1463–1467.
27. 27)
  - A.M.M. Muijtjens , J.M.A. Roos , T. Arts , A. Hasman , R.S. Reneman . Simultaneous estimation of stereo correspondence and camera geometry from marker tracks. Comput. Cardiol. , 577 - 580
28. 28)
  - B.K.P. Horn . Closed-form solution of absolute orientation using unit quaternions. J. Opt. Soc. Am. , 4 , 629 - 642
29. 29)
  - Huang, T.S., Blostein, S.D., Margerum, A.: `Least squares estimation of motion parameters from 3D-point correspondences', Proc. IEEE Conf. on Computer Vision and Pattern Recognition, 1986, Miami Beach, FL, p. 24–26.
30. 30)
  - R.I. Hartley , P. Sturm . Triangulation. Comput. Vis. Image Underst. , 2 , 146 - 157
31. 31)
  - S. De Amici , A. Sanna , F. Lamberti , B. Pralio . A Wii remote-based infrared-optical tracking system. Entertainment Comput. , 119 - 124
32. 32)
  - Yepeng, G.: `Stereo vision based video real-time 3D pointing gesture recognition', IET Conf. on Wireless, Mobile and Sensor Networks, (CCWMSN07), 12–14 December 2007, p. 355–358.

Marker-based quadri-ocular tracking system for surgery

Marker-based quadri-ocular tracking system for surgery

Buy article PDF

Buy Knowledge Pack

Thank you

References

Related content