TY - JOUR
T1 - Design and validation of an open-source library of dynamic reference frames for research and education in optical tracking
AU - Brown, Alisa
AU - Uneri, Ali
AU - Silva, Tharindu De
AU - Manbachi, Amir
AU - Siewerdsen, Jeffrey H.
N1 - Funding Information:
This work was supported by the STAR Program at Johns Hopkins University for Undergraduate Research. The authors thank Dr. Andrew Wiles and Mr. Jeff Stanley (NDI, Waterloo, Ontario) for helpful input on DRF design. Thanks also to Mr. Alex Martin and Ms. Radhika Rajaram (Biomedical Engineering, Johns Hopkins University) for assistance with the computer-controlled navigation bench and 3-D printing.
Publisher Copyright:
© 2018 Society of Photo-Optical Instrumentation Engineers (SPIE).
PY - 2018/4/1
Y1 - 2018/4/1
N2 - Dynamic reference frames (DRFs) are a common component of modern surgical tracking systems; however, the limited number of commercially available DRFs poses a constraint in developing systems, especially for research and education. This work presents the design and validation of a large, open-source library of DRFs compatible with passive, single-face tracking systems, such as Polaris stereoscopic infrared trackers (NDI, Waterloo, Ontario). An algorithm was developed to create new DRF designs consistent with intra- and intertool design constraints and convert to computer-aided design (CAD) files suitable for three-dimensional printing. A library of 10 such groups, each with 6 to 10 DRFs, was produced and tracking performance was validated in comparison to a standard commercially available reference, including pivot calibration, fiducial registration error (FRE), and target registration error (TRE). Pivot tests showed calibration error (mean±std)=0.46±0.1 mm, indistinguishable from the reference. FRE was 0.15±0.03 mm, and TRE in a CT head phantom was 0.96±0.5 mm, both equivalent to the reference. The library of DRFs offers a useful resource for surgical navigation research and could be extended to other tracking systems and alternative design constraints.
AB - Dynamic reference frames (DRFs) are a common component of modern surgical tracking systems; however, the limited number of commercially available DRFs poses a constraint in developing systems, especially for research and education. This work presents the design and validation of a large, open-source library of DRFs compatible with passive, single-face tracking systems, such as Polaris stereoscopic infrared trackers (NDI, Waterloo, Ontario). An algorithm was developed to create new DRF designs consistent with intra- and intertool design constraints and convert to computer-aided design (CAD) files suitable for three-dimensional printing. A library of 10 such groups, each with 6 to 10 DRFs, was produced and tracking performance was validated in comparison to a standard commercially available reference, including pivot calibration, fiducial registration error (FRE), and target registration error (TRE). Pivot tests showed calibration error (mean±std)=0.46±0.1 mm, indistinguishable from the reference. FRE was 0.15±0.03 mm, and TRE in a CT head phantom was 0.96±0.5 mm, both equivalent to the reference. The library of DRFs offers a useful resource for surgical navigation research and could be extended to other tracking systems and alternative design constraints.
KW - dynamic reference frames
KW - open-source
KW - optical tracking
KW - surgical navigation
KW - three-dimensional printing
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U2 - 10.1117/1.JMI.5.2.021215
DO - 10.1117/1.JMI.5.2.021215
M3 - Article
C2 - 29487887
AN - SCOPUS:85042411090
SN - 2329-4302
VL - 5
JO - Journal of Medical Imaging
JF - Journal of Medical Imaging
IS - 2
M1 - 021215
ER -