Integration of optical tracking system for determination of the position and orientation of instruments during the surgery

摘要

The purpose of this project was the design and implementation of a completesystem for acquisition and fusion of data provided by an optical trackingsystem and a set of cameras (including an arthroscope).Synchronous data acquisition was a major requirement. For this purposewe designed a Printed Circuit Board (PCB), that assures perfect synchronybetween equipments, and can be configured to use different trigger sources.In addition, we developed a complete software architecture in C++, that runsin a work-station and makes the communication with the opto-tracker andcameras. The software enables the insertion of different modules for dataprocessing. We developed a Visualization Module using OpenGL and Qt,and a recording module that enables data acquisition for off-line processingin Matlab.In future work, the navigation system will be extended with 3D reconstruction/registration computer vision algorithms. These algorithms will usethe intra-operative endoscopic video, enhanced with the pose information,for estimating the 3D pose of organs and anatomical structures in the knee.The final goal is to build a complete navigation system to assist surgeonsduring arthroscopic interventions.