6DOF optical tracking system using afocal optics for image guided surgery
1 School of Electrical Engineering and Computer Science, Kyungpook National University, 80 Daehakro, Buk-gu, Daegu 41566, Korea
2 Medical Robot Unit, Kohyoung Technology Ltd. 15F Halla Sigma Valley, 345-90 Gasan-Dong, Geumcheon-Gu, Seoul, Korea
3 Department of mechanical Engineering, Korea Advanced Institute of Science and Technology, 291, Daehak-ro, Yuseong-gu, Daejeon 34141, Korea
4 Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD 21205, United States
a Corresponding author: Tel : +82-53-950-7233; email@example.com
Image guided surgery using medical robots is becoming popular these days. For image guided surgery, a tracking system is required to provide 6DOF information of patient coordinate, surgical instruments and medical robots used in surgery. To provide 6DOF information, a marker has to be attached to the target. However, it is hard to use many markers all together because the markers will take too much space in the surgical area. The tracking system proposed in this study utilizes down sized markers compared to traditional markers by using micro-engraved data-coded pattern with a lens instead of using geometrically specified marker spheres as a tracking target. A tracking system is developed that has a measurement area of 1m to 2.5m from the tracking system. Experiment has been done for surgical navigation using the proposed tracking system and a medical robot.
© Owned by the authors, published by EDP Sciences, 2015
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