Real-time tracking of instruments : Visualizing endoscope position on placental vasculature image
Sammanfattning: Twin-to-twin transfusion syndrome (TTTS) is a complication of blood flow among fetuses sharing a single placenta. TTTS is associated with high mortality rates; however there is treatment available which significantly increases the rate of survival. The treatment procedure is although far from perfect. Limited by a narrow field of view, it is a challenging task for the surgeon to mentally visualize the vascular structures of the placenta while trying to navigate across the areas of interest. Previous research within both medical imaging and tracking technologies has been conducted but there is no perfect solution on how to solve these issues. This paper is part of a two-part project attempting to provide an application which can make the surgical procedure easier. The two parts are image stitching and real-time tracking, this paper focusing on the latter. This is done by choosing an appropriate tracking method which can provide location and orientation of a small sensor. The 3D data gathered from the sensor is processed by various transformations so that the bounding box of the camera movement can be mapped directly onto the image generated by the stitching process. The same transformations are applied to data collected from the sensor at a rate of 60 Hz, resulting in a responsive system. By comparing the x-value and y-value of a calculated point to the bounding box, this point can be converted to its corresponding pixel in the image. The system is responsive and by visually comparing the digital position in the image to its corresponding real world position it seems accurate enough, even though a few pixels misalignment will occur.
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