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A novel 4 camera multi-stereo tracking system for application in surgical navigation systems

Ein neues 4-Kamera-Multi-Stereo-System zur Verwendung in chirurgischen Navigationssystemen
Oliver Gieseler

is scientific assistant at Center for Sensor Systems (ZESS) working in the field of optical 3D-localization in computer assisted surgery.

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, Hubert Roth

is director of the institute for control engineering at University of Siegen and board member of Center for Sensor Systems.

and Jürgen Wahrburg

is Akad. Director at the institute of conrol engineering and leads a research group for development of computer and robotic assisted systems for surgical applications.

From the journal tm - Technisches Messen

Abstract

In this paper, we present a novel 4 camera stereo system for application as optical tracking component in navigation systems in computer-assisted surgery. This shall replace a common stereo camera system in several applications. The objective is to provide a tracking component consisting of four single industrial cameras. The system can be built up flexibly in the operating room e. g. at the operating room lamp. The concept is characterized by independent, arbitrary camera mounting poses and demands easy on-site calibration procedures of the camera setup. Following a short introduction describing the environment, motivation and advantages of the new camera system, a simulation of the camera setup and arrangement is depicted in Section 2. From this, we gather important information and parameters for the hardware setup, which is described in Section 3. Section 4 includes the calibration of the cameras. Here, we illustrate the background of camera model and applied calibration procedures, a comparison of calibration results obtained with different calibration programs and a new concept for fast and easy extrinsic calibration.

Zusammenfassung

In diesem Artikel stellen wir ein neuartiges 4-Kamera-Stereosystem vor, das zur Verwendung als optische Tracking-Komponente in Navigationssystemen der computerassistierten Chirurgie vorgesehen ist. Es soll herkömmliche Stereokamerasysteme in verschiedenen Anwendungen ersetzen. Ziel ist es, eine Trackingkomponente zur Verfügung zu stellen, die aus vier einzelnen Industriekameras aufgebaut ist. Das System kann flexibel, z. B. an der OP-Leuchte, im Operationssaal aufgebaut bzw. befestigt werden. Unser Konzept zeichnet sich durch flexible beliebige Kameraanordnung aus, benötigt allerdings ein einfaches Verfahren zur schnellen Kalibrierung der Kameras vor Ort. Nach einer kurzen Einführung, die das Umfeld, die Motivation und Vorteile des neuen Kamerasystems beinhaltet, wird in Kapitel 2 die Simulation des Kamerasetups und der Kameraanordnung vorgestellt. Hiermit können hilfreiche Informationen und Parameter für das im Kapitel 3 vorgestellte Hardwaresetup gewonnen werden. Kapitel 4 beinhaltet die Kalibrierung der Kameras. Dort zeigen wir das verwendete Kameramodell und die angewendeten Kalibrierverfahren, einen Vergleich der Ergebnisse der Kalibrierungen mit verschiedenen Kalibrierprogrammen, sowie ein neues Konzept für die schnelle und einfache extrinsische Kalibrierung.

Award Identifier / Grant number: 13GW0175B

Funding statement: Part of this work is funded by the German Federal Ministry of Education and Research (program KMU-innovativ: Medizintechnik, contract number 13GW0175B).

About the authors

Oliver Gieseler

is scientific assistant at Center for Sensor Systems (ZESS) working in the field of optical 3D-localization in computer assisted surgery.

Hubert Roth

is director of the institute for control engineering at University of Siegen and board member of Center for Sensor Systems.

Jürgen Wahrburg

is Akad. Director at the institute of conrol engineering and leads a research group for development of computer and robotic assisted systems for surgical applications.

References

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Received: 2019-09-17
Accepted: 2020-01-09
Published Online: 2020-01-22
Published in Print: 2020-07-26

© 2020 Walter de Gruyter GmbH, Berlin/Boston

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