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Contact-less stylus for surgical navigation: registration without digitization

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

We present a laser-based, contact-less, stylus for the purpose of fiducial registration and digitization in the context of surgical navigation.

Methods

We augmented a laser pointer with a spatial measurement device and used the laser beam as a means to locate a fiducial in 3D space. We developed a method for calibrating the orientation of the laser beam with respect to its attached tracking target. Digitization of a fiducial was formulated as a line intersection problem, and registration was formulated as a point-to-line registration problem.

Results

We achieved an RMS fiducial localization error of 0.63 mm for 151 measurements of 12 fiducial markers. Mean TRE values of less than 1.5 mm over the entire surface of a lumbar vertebra were achievable using 4 fiducial markers. We found that contact-based rigid registration performed carefully under near-ideal conditions outperforms contact-less registration in terms of TRE.

Conclusion

An inexpensive contact-less stylus can be used to obtain accurate fiducial registration, which can be performed without explicit fiducial digitization.

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Acknowledgements

This study was funded by Canadian Institutes of Health Research (CIHR #FDN 143232), Canada Foundation for Innovation (CFI, #20994), and Natural Sciences and Engineering Research Council of Canada (NSERC #RPGIN 2014-04504).

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Authors and Affiliations

  1. Robarts Research Institute, Western University, London, ON, Canada

    Elvis C. S. Chen & Terry M. Peters

  2. Department of Electrical Engineering and Computer Science, York University, Toronto, ON, Canada

    Burton Ma

Authors
  1. Elvis C. S. Chen
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  2. Burton Ma
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  3. Terry M. Peters
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Corresponding author

Correspondence to Elvis C. S. Chen.

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Conflict of interest

Elvis C.S. Chen, Burton Ma, and Terry M. Peters declare that they have no conflict of interest.

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This article does not contain any studies with human participants or animal performed by any of the authors.

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This article does not contain patient data.

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Chen, E.C.S., Ma, B. & Peters, T.M. Contact-less stylus for surgical navigation: registration without digitization. Int J CARS 12, 1231–1241 (2017). https://doi.org/10.1007/s11548-017-1576-7

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  • DOI: https://doi.org/10.1007/s11548-017-1576-7

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