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Related Experiment Videos

Single-camera visual odometry to track a surgical X-ray C-arm base.

Hooman Esfandiari1,2, Derek Lichti1, Carolyn Anglin3

  • 11 Department of Geomatics Engineering, University of Calgary, Calgary, AB, Canada.

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
|October 18, 2017
PubMed
Summary

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This study introduces a monocular visual odometry system for precise C-arm base localization. The framework achieves high positional and angular accuracy, enhancing surgical navigation and robotics applications.

Area of Science:

  • Medical Imaging and Instrumentation
  • Computer Vision and Robotics

Background:

  • Surgical C-arm systems require accurate real-time localization for enhanced precision.
  • Existing localization methods may have limitations in cost or integration complexity.

Purpose of the Study:

  • To develop a robust and accurate single-camera odometry system for surgical C-arm base localization.
  • To evaluate the system's performance in terms of positional and angular accuracy.

Main Methods:

  • Implementation of an application-specific monocular visual odometry system using a downward-looking camera.
  • Utilizing frame-to-frame homography estimation and optical-flow for dead-reckoning.
  • Real-time reporting of positional and orientation parameters.

Main Results:

Keywords:
C-armbase-trackingcomputer-assisted surgeryodometryorthopedic surgeryphotogrammetry

Related Experiment Videos

  • Achieved positional accuracy better than 2% in most cases and 4% in all studied cases.
  • Demonstrated angular accuracy better than 2% of absolute cumulative orientation changes.
  • The system proved robust and accurate for C-arm base tracking.

Conclusions:

  • The proposed framework offers a cost-effective and accurate solution for C-arm localization.
  • This system can be integrated with existing surgical tracking systems like TC-arm.
  • The framework has potential applications in robotics and other fields requiring precise tracking.