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Accuracy analysis for triangulation and tracking based on time-multiplexed structured light.

Benjamin Wagner1, Patrick Stüber1, Tobias Wissel1

  • 1Institute for Robotics and Cognitive Systems, University of Lübeck, 23562 Lübeck, Germany and Graduate School for Computing in Medicine and Life Sciences, University of Lübeck, 23562 Lübeck, Germany.

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This summary is machine-generated.

A new laser scanning device accurately reconstructs skin surfaces for intracranial radiosurgery. This optical head tracking system offers high precision, crucial for demanding medical applications.

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Area of Science:

  • Medical Physics
  • Optical Engineering
  • Robotics

Background:

  • Developing advanced optical head tracking systems for intracranial radiosurgery.
  • Need for accurate registration with skull structure by compensating for soft tissue movement.
  • Requirement for rapid and precise skin surface reconstruction.

Purpose of the Study:

  • To develop and evaluate a novel laser scanning device for intracranial radiosurgery.
  • To assess the accuracy of time-multiplexed structured light for surface point triangulation.
  • To compare the developed system's performance against existing technologies like Microsoft Kinect.

Main Methods:

  • Utilized time-multiplexed structured light for surface point triangulation.
  • Analyzed and compared Linear-Eigen and nonlinear least squares triangulation methods.
  • Evaluated system accuracy by tracking a rigid object mounted on a robot end-effector for ground truth.

Main Results:

  • Achieved a root mean square (RMS) error of 0.16 mm for the laser scanning device's triangulation accuracy.
  • Kinect device showed a significantly higher RMS error of 0.89 mm.
  • Tracking accuracy demonstrated RMS translational error of 0.33 mm and RMS rotational error of 0.12°.

Conclusions:

  • Time-multiplexed structured light enables highly accurate surface reconstructions.
  • The developed system meets the stringent accuracy requirements for intracranial radiosurgery.
  • Reconstructed surface data is suitable for high-accuracy object tracking in medical procedures.