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Aurora Magnetic Position Sensor Distortion and Construction of US Probe Sleeve for Aurora Sensors Pe

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Title: Aurora Magnetic Position Sensor Distortion and Construction of US Probe Sleeve for Aurora Sensors Pe


1
Aurora Magnetic Position Sensor Distortion and
Construction of US Probe Sleeve for Aurora
SensorsPeter Choe, Ajin TaeMentors Greg
Fischer, Russell H. TaylorCIS 600.446
2
Background
  • Tracking necessary for
  • -invasive surgical procedures
  • -Spinal surgery
  • -Abdominal surgery
  • Current procedure Optotrak tracking system
  • Problems Large size, difficult to place in the
    surgery room
  • Requires line of sight for tracking

3
Current procedure Aurora tracking system
Problem Large fiducial localization error
4
Proposed Solution
  • Improve errors in the current implementation of
    Aurora tracking system
  • -Create a sleeve to put on the US probe
  • -Find optimal positioning and orientation for
    Aurora sensors
  • -Improve software for characterizing
    registration error

5
Minimum Deliverables
  • Data extraction and analysis
  • Characterize how different surgical tools distort
    registration
  • Distortion in the operating room
  • Determine and figure out capability with Davinci
    robot
  • Some characterization of data using Bernstein
    polynomials

6
Dependencies
  • Data
  • Currently existing registration data
  • Equipment
  • Surgical tools (Greg Fischer)
  • Aurora tracker (Greg Fischer)
  • Optotrak (Greg Fischer)
  • Access to operating room (Dr. Ishii, Bayview
    Medical Center)
  • Time with da Vinci robot (MISTIC Center)
  • Talk to Dr. Taylor for funding for time on da
    Vinci

7
(No Transcript)
8
Expected Deliverables
  • Create a sleeve for ultrasound probe to minimize
  • distortion
  • - Sleeve holds the Aurora trackers
  • - Sleeve hole must be wide enough to fit probe
    and trackers
  • Find most accurate orientation of Aurora trackers
  • - use Optotrak data as control
  • Initially test on broken US, but eventually test
    on working US to determine if there is any
    additional distortion

9
Dependencies
  • Equipment
  • -Pro Engineer Wildfire software (in CIS lab)
  • -Rapid Prototyper
  • -Broken and working ultrasound

10
Maximum Deliverables
  • Mathematical characterization of data using
    B-splines instead of Bernstein polynomials
  • -Localizes error
  • Update currently existing software

11
Timeline
12
Timeline
13
Logistics
  • Weekly meetings with Greg Fischer
  • Work with tracking systems twice per week
  • Peter Assign tasks for both members
  • Set up meeting times
  • Ajin Weekly project progress assessments
  • Update timeline accordingly
  • Plan next tasks

14
References
  • 1. Electromagnetically tracked placement of a
    peripherally inserted central catheter. Laura
    Sacolick, Neilesh Patel, John Tang, Elliot Levy,
    Kevin Cleary. Johns Hopkins University, Dept. of
    Biomedical Engineering, Baltimore, MD, USA.
    Imaging Science and Information Systems (ISIS)
    Center, Dept. of Radiology, Georgetown
    University, Washington, DC, USA
  • 2. Breakdown of Tracking Accuracy for
    Electromagnetically Guided Abdominal
    Interventions. Jonathan Tang, Kevin Cleary.
    Imaging Science and Information Systems (ISIS)
    Center, Radiology Department, Georgetown
    University Medical Center, 2115 Wisconsin Ave.,
    603, Washington, DC
  • 3. Needle Tracking Using the Aurora Magnetic
    Position Sensor. N.D. Glossop, K.Cleary and F.
    Banovac. Traxtal Technologies LLC, 5116
    Bissonnet, No. 324, Bellaire TX 77035, ISIS
    Center, Georgetown University Medical Center,
    2115 Wisconsin Ave. NW Suite 603, Washington DC
    20007
  • 4. Magnetic Tracker Calibration for Improved
    Augmented Reality Registration. Mark A.
    Livingston, Andrei State. Department of Computer
    Science University of North Carolina at Chapel
    Hill

15
Reading list
  • Ikits, Milan, J. Dean Brederson Charles D.
    Hansen, John M. Hollerbach. An Improved
    Calibration Framework for Electromagnetic
    Tracking Devices.
  • Bajura, Michael, Henry Fuchs, and Ryutarou
    Ohbuchi. "Merging Virtual Objects with the Real
    World Seeing Ultrasound Imagery within the
    Patient." Proceedings of SIGGRAPH '92 (Chicago,
    IL, July 26-31, 1992). In Computer Graphics 26,
    2 (July 1992) 203-210.
  • Fuchs, Henry, Mark A. Livingston, Ramesh Raskar,
    D'nardo Colucci, Kurtis Keller, Andrei State,
    Jessica R. Crawford, Paul Rademacher, Samuel H.
    Drake, and Anthony A. Meyer, MD. "Augmented
    Reality Visualization for Laparoscopic Surgery."
    To appear in Proceedings of First International
    Conference on Medical Image Computing and
    Computer-Assisted Intervention (MICCAI '98),
    11-13 October 1998, Massachusetts Institute of
    Technology, Cambridge, MA, USA.
  • Jacobs, Marco, Mark A. Livingston, and Andrei
    State. "Managing Latency in Complex Augmented
    Reality Systems." In Proceedings of 1997
    Symposium on Interactive 3D Graphics (Providence,
    RI, April 27-30, 1997). Annual Conference Series,
    ACM SIGGRAPH, pgs. 49-54
  • Adrian J. Chung, Philip J. Edwards, Fani
    Deligianni, and Guang-Zhong Yang. Freehand
    Co-calibration of Optical and Electromagnetic
    Trackers for Navigated Bronchoscopy. Royal
    Society / Wolfson Foundation Medical Image
    Computing Laboratory, Imperial College, London,
    UK
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