A Comparative Evaluation of SteamVR Tracking and the OptiTrack System for Medical Device Tracking

Tracking of medical devices can be used in diverse situations, e.g., training as well as image guidance for surgery and surgery planning. Therefore, position and orientation of a device, for instance, an ultrasound probe, need to be identified as precisely as possible. This enables correct representation of digital 3D models in medical image processing platforms such as 3D Slicer or MevisLab. In this manuscript, a comparative evaluation of the low-cost Swept Angle Laser Tracking (SALT) system SteamVR Tracking and the multi-camera-based Opti-Track System is presented. Their potential for medical device tracking is demonstrated in the use case of ultrasound probe tracking for simulation purposes. An evaluation of tracking errors is performed using a Universal Robotics UR5 industrial robot under non-laboratory conditions, involving common issues such as reflections and occlusions. A discussion on the tracking accuracy of both systems is given. The communication of tracking data is established for 3D Slicer and MeVisLab with the use of the PLUS Toolkit via the OpenIGTLink protocol.