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Medical Physics / Volume 39 / Issue 2 / OPTICAL PHYSICS

Med. Phys. 39, 636 (2012); http://dx.doi.org/10.1118/1.3675397 (7 pages)

Design and evaluation of an optically-tracked single-CCD laser range scanner

Thomas S. Pheiffer, Amber L. Simpson, and Michael I. Miga

Department of Biomedical Engineering, Vanderbilt University, Nashville, Tennessee 37235

Brian Lennon

Pathfinder Therapeutics, Inc., Nashville, Tennessee 37204

Reid C. Thompson

Vanderbilt University Medical Center, Department of Neurological Surgery, Nashville, Tennessee 37232

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(Received 20 October 2011; accepted 11 December 2011; revised 28 November 2011; published online 11 January 2012)

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Purpose: Acquisition of laser range scans of an organ surface has the potential to efficiently provide measurements of geometric changes to soft tissue during a surgical procedure. A laser range scanner design is reported here which has been developed to drive intraoperative updates to conventional image-guided neurosurgery systems.
Methods: The scanner is optically-tracked in the operating room with a multiface passive target. The novel design incorporates both the capture of surface geometry (via laser illumination) and color information (via visible light collection) through a single-lens onto the same charge-coupled device (CCD). The accuracy of the geometric data was evaluated by scanning a high-precision phantom and comparing relative distances between landmarks in the scans with the corresponding ground truth (known) distances. The range-of-motion of the scanner with respect to the optical camera was determined by placing the scanner in common operating room configurations while sampling the visibility of the reflective spheres. The tracking accuracy was then analyzed by fixing the scanner and phantom in place, perturbing the optical camera around the scene, and observing variability in scan locations with respect to a tracked pen probe ground truth as the camera tracked the same scene from different positions.
Results: The geometric accuracy test produced a mean error and standard deviation of 0.25 ± 0.40 mm with an RMS error of 0.47 mm. The tracking tests showed that the scanner could be tracked at virtually all desired orientations required in the OR set up, with an overall tracking error and standard deviation of 2.2 ± 1.0 mm with an RMS error of 2.4 mm. There was no discernible difference between any of the three faces on the lasers range scanner (LRS) with regard to tracking accuracy.
Conclusions: A single-lens laser range scanner design was successfully developed and implemented with sufficient scanning and tracking accuracy for image-guided surgery.

© 2012 American Association of Physicists in Medicine

ACKNOWLEDGMENTS

This work is funded by the National Institutes of Health: Grant Nos. R01 NS049251 of the National Institute for Neurological Disorders and Stroke and R01 CA162477 of the National Cancer Institute. Dr. Miga is a cofounder and holds ownership interest in Pathfinder Therapeutics Inc. which is currently licensing rights to approaches in image-guided liver surgery and has incorporated the reported laser range scanner within their product line.

Article Outline

  1. INTRODUCTION
  2. MATERIALS AND METHODS
    1. Design and development
    2. Laser range scanner evaluation
  3. RESULTS
  4. DISCUSSION AND CONCLUSIONS
  5. CONCLUSIONS
Digital Object Identifier
http://dx.doi.org/10.1118/1.3675397

KEYWORDS and PACS

Keywords

biomedical optical imaging, CCD image sensors, laser applications in medicine, object tracking, phantoms, surgery

PACS

  • 87.63.lt

    Laser imaging

  • 85.60.Gz

    Photodetectors (including infrared and CCD detectors)

  • 42.62.Be

    Biological and medical applications

PUBLICATION DATA

ISSN

0094-2405 (print)  

Publisher

$abstract.society.value is a Member of CrossRef American Association of Physicists in Medicine

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