Optical Surgical Navigation System Based On A Fiducial Marker

Surgical navigator has been in the history of human surgery and carried out self-transformation with the development of human science and technology.With the development of technology in recent 10 years,such as the rapid development of information technology,cross growing computing speed exponentially,medical information technology such as PET technology,a new multidimensional image correlation algorithm of image processing and recognition technology matures,industrial technology,and precision of minimally invasive surgery has become the direction of the pursuit of modern medical technology and clinical surgery,computer-assisted surgery gradually move towards the forefront of industry research.As the core of computer-aided surgery,surgical navigator system has become the core direction of industry research.Computer aided surgery combined with spatial location information of a surgical tool preoperative and intraoperative medical imaging information,giving the surgeon to understand the relative relationship between the auxiliary surgical tools and human operation area,greatly improve the predictability and reliability of operation.The operating navigator system has become the focus of the industry research,because the surgical navigation system is the central module of the computer assisted surgery system.In order to improve and optimize the current visible light optical navigation system,a navigation scheme based on ARTag artificial marker is proposed in this paper.This article first summarizes the advantages and development of the surgical navigator,and explains the necessity of the study of the surgical navigator;according to current research and medical applications,illustrating the further development and research the urgency of the surgical navigation;according to the current research status,shortcomings and needs,put forward the research content of this article.The main contents of this paper are as follows:1.This paper presents a surgical navigation system based on ARTag artificial marker.The most promising,widely recognized and popularized surgical navigator system at present is the optical surgical navigator system,the main principle is based on binocular stereoscopic vision.This article is inspired by the current optical navigation system which is complex,multi-target tracking capability is weak and implement miscellaneous,higher costs and a series of deficiencies.Combining with the ARTag artificial marker system which is used in augmented applications to realize the tracking of the surgical tools by tracking the artificial marker.Conducive to the binocular stereo vision,to achieve a surgical tool space location tracking,enabling surgical navigation function.2.Aiming at ARTag artificial markings,this paper presents a detection algorithm which is proved fast,stable,high precision and robust to light conditions by conducted experiments.The algorithm is based on edge detection,through the line segment detection,line segmentation,line extension,marking quadrilateral reconstruction and other steps,achieve a highly efficient and fast mark detection.3.For the ARTag tag feature,realizing to obtain the tagged corners chain and the tag ID is decoded by algorithm.Under the premise of the surgical instrument calibration,in favor of the principle of binocular vision,calculating the three-dimensional coordinates of the marker space,and further realize the spatial positioning of the surgical tool.4.In the light of the scheme of the surgical navigator proposed in this paper,the system space positioning,stability and accuracy are tested and analyzed quantitatively.The stability of the system space location,the operating endpoint of the surgical tool at the fixed point,the operating tool in different postures,the calculation of the tracking error of the surgical endpoint tracking,to determine the stability of the tracking.The accuracy of the system space location,the operation endpoint of the operation tool moves at the fixed distance grid point,and the tracking accuracy is calculated by calculating the range error of the operation endpoint tracking position.The experimental results show that the scheme of the positioning system of the surgical navigator is proposed.The tracking accuracy meets the basic functional requirements,and has certain research and application value.