Marker Detection for Surgical Navigation

This Master Thesis describes the foundations, development, design and Implementation of the necessary algorithms to estimate the position and orientation of a marker of a surgical instrument tracked by a camera used in medical operations. This project presents a solution based on QR Codes attached t...

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Main Author: De la Cadena Ramos, Augusto Wladimir
Other Authors: Koening, Andreas
Format: Tesis de Maestría
Language:deu
Published: Alemania / Universidad T?cnica de Kaiserslautern / 2015 2016
Subjects:
Online Access:http://repositorio.educacionsuperior.gob.ec/handle/28000/2005
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spelling oai:localhost:28000-20052017-02-21T21:01:35Z Marker Detection for Surgical Navigation De la Cadena Ramos, Augusto Wladimir Koening, Andreas Keeve, Erwin NAVEGACI?N QUIR?RGICA MARCADORES POSE QR CODES This Master Thesis describes the foundations, development, design and Implementation of the necessary algorithms to estimate the position and orientation of a marker of a surgical instrument tracked by a camera used in medical operations. This project presents a solution based on QR Codes attached to instruments and detected by a high de?nition camera in a surgical environment. QR markers contain information about the identi?cation of the instruments and their sizes, which is necessary to calculate the position of this planar marker. This thesis starts detailing the theory related to the QR Codes (encoding, reading, etc) and the State or Art of the marker navigation. Then the process of recognition of the markers in an image is described. The desired information of this process is obtaining the Region of Interest (ROI) and the encoded information for each QR Code. After that, the POSE is calculated using two di?erent methods, the ?rst one based on the point correspondences of the marker and the second one based on an iterative template matching comparing the homography transformation. Also is included a brief description about the software implementation. The algorithms are evaluated, giving as ?nal results the RMS rotation and translation errors for the computed POSE. From the evaluation, in optimum conditions the system achieves an accuracy of 5.80 [mm] in translation and 1.24 o in rotation. 2016-06-06T17:47:43Z 2016-06-06T17:47:43Z 2015-06-26 masterThesis De la Cadena Ramos, Augusto Wladimir. (2015). Marker Detection for Surgical Navigation. (Trabajo de titulaci?n de la Maestr?a en Ciencias en Ingenier?a El?ctrica e Inform?tica). Universidad T?cnica de Kaiserslautern. Alemania. 83 p. http://repositorio.educacionsuperior.gob.ec/handle/28000/2005 deu 83 p. Alemania / Universidad T?cnica de Kaiserslautern / 2015
institution SENESCYT
collection Repositorio SENESCYT
biblioteca Biblioteca Senescyt
language deu
format Tesis de Maestría
topic NAVEGACI?N QUIR?RGICA
MARCADORES
POSE
QR CODES
spellingShingle NAVEGACI?N QUIR?RGICA
MARCADORES
POSE
QR CODES
De la Cadena Ramos, Augusto Wladimir
Marker Detection for Surgical Navigation
description This Master Thesis describes the foundations, development, design and Implementation of the necessary algorithms to estimate the position and orientation of a marker of a surgical instrument tracked by a camera used in medical operations. This project presents a solution based on QR Codes attached to instruments and detected by a high de?nition camera in a surgical environment. QR markers contain information about the identi?cation of the instruments and their sizes, which is necessary to calculate the position of this planar marker. This thesis starts detailing the theory related to the QR Codes (encoding, reading, etc) and the State or Art of the marker navigation. Then the process of recognition of the markers in an image is described. The desired information of this process is obtaining the Region of Interest (ROI) and the encoded information for each QR Code. After that, the POSE is calculated using two di?erent methods, the ?rst one based on the point correspondences of the marker and the second one based on an iterative template matching comparing the homography transformation. Also is included a brief description about the software implementation. The algorithms are evaluated, giving as ?nal results the RMS rotation and translation errors for the computed POSE. From the evaluation, in optimum conditions the system achieves an accuracy of 5.80 [mm] in translation and 1.24 o in rotation.
author2 Koening, Andreas
author_facet Koening, Andreas
De la Cadena Ramos, Augusto Wladimir
author De la Cadena Ramos, Augusto Wladimir
author_sort De la Cadena Ramos, Augusto Wladimir
title Marker Detection for Surgical Navigation
title_short Marker Detection for Surgical Navigation
title_full Marker Detection for Surgical Navigation
title_fullStr Marker Detection for Surgical Navigation
title_full_unstemmed Marker Detection for Surgical Navigation
title_sort marker detection for surgical navigation
publisher Alemania / Universidad T?cnica de Kaiserslautern / 2015
publishDate 2016
url http://repositorio.educacionsuperior.gob.ec/handle/28000/2005
_version_ 1634995065133727745
score 11,871979