Acquisition of point cloud in CT image space to improve accuracy of surface registration: Application to neurosurgical navigation system

Surface registration is an important factor in surgical navigation in determining the success rate and stability of surgery by providing the operator with the exact location of a lesion. The problem of surface registration is that point cloud in the patient space is acquired at irregular intervals due to the operator’s tracking speed and method. The purpose of this study is to analyze the effect of irregular intervals of point cloud caused by tracking speed and method on the registration accuracy. For this study, we created the head phantom to obtain a point cloud in the patient space with a similar object to that of a patient and acquired a point cloud in a total of ten times. In order to analyze the accuracy of registration according to the interval, cubic spline interpolation was applied to the existing point cloud. Additionally, irregular intervals of the point cloud were regenerated into regular intervals. As a result of applying the regenerated point cloud to the surface registration, the surface registration error was not statistically different from the existing point cloud. However, the target registration error significantly lower (p < 0.01). These results indicate that the intervals of point cloud affect the accuracy of registration, and that point cloud with regular intervals can improve the surface registration accuracy.

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Augmented reality navigation system for laparoscopic splenectomy in children based on preoperative CT image using optical tracking device

Pediatric Surgery International ◽

10.1007/s00383-011-3034-x ◽

2011 ◽

Vol 28 (4) ◽

pp. 341-346 ◽

Cited By ~ 48

Author(s):

Satoshi Ieiri ◽

Munenori Uemura ◽

Kouzou Konishi ◽

Ryota Souzaki ◽

Yoshihiro Nagao ◽

...

Keyword(s):

Augmented Reality ◽

Navigation System ◽

Laparoscopic Splenectomy ◽

Optical Tracking ◽

Ct Image ◽

Preoperative Ct ◽

Tracking Device

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Development of Edge-Node Map Based Navigation System Without Requirement of Prior Sensor Data Collection

Journal of Robotics and Mechatronics ◽

10.20965/jrm.2020.p1112 ◽

2020 ◽

Vol 32 (6) ◽

pp. 1112-1120

Author(s):

Kazuki Takahashi ◽

◽

Jumpei Arima ◽

Toshihiro Hayata ◽

Yoshitaka Nagai ◽

...

Keyword(s):

Navigation System ◽

Point Cloud ◽

Dynamic Environment ◽

Sensor Data ◽

Map Matching ◽

Edge Node ◽

The Road ◽

Autonomous Robot Navigation ◽

On The Road ◽

Target Environment

In this study, a novel framework for autonomous robot navigation system is proposed. The navigation system uses an edge-node map, which is easily created from electronic maps. Unlike a general self-localization method using an occupancy grid map or a 3D point cloud map, there is no need to run the robot in the target environment in advance to collect sensor data. In this system, the internal sensor is mainly used for self-localization. Assuming that the robot is running on the road, the position of the robot is estimated by associating the robot’s travel trajectory with the edge. In addition, node arrival determination is performed using branch point information obtained from the edge-node map. Because this system does not use map matching, robust self-localization is possible, even in a dynamic environment.

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Real-Time Navigation-Guided Drilling Technique for Skull Base Surgery in the Middle and Posterior Fossae

Journal of Neurological Surgery Part B Skull Base ◽

10.1055/s-0038-1667044 ◽

2018 ◽

Vol 79 (S 04) ◽

pp. S334-S339 ◽

Cited By ~ 1

Author(s):

Tetsuya Goto ◽

Yosuke Hara ◽

Kazuhiro Hongo ◽

Toshihiro Ogiwara

Keyword(s):

Skull Base ◽

Real Time ◽

Navigation System ◽

Skull Base Surgery ◽

Petrous Bone ◽

Surface Registration ◽

University Hospital ◽

Registration Method ◽

Bony Surface ◽

Drilling Technique

Objective The usefulness of the bony surface registration method for navigation system image-guided surgery in the lateral or prone position has been reported. This study was performed to evaluate the efficacy of our new real-time navigation-guided drilling technique with bony surface registration for skull base surgery in the middle and posterior fossae. Methods The study included 29 surgeries for skull base tumors that required drilling of the petrous bone between January 2015 and December 2017 in Shinshu University Hospital. A navigation system was used for drilling of the petrous bone as follows: (1) some labyrinthine structures were marked by color in the source image and superimposed on the navigation image on the workstation preoperatively; (2) bony surface registration was performed with a three-dimensional (3D) skull reconstruction model in the operating room; (3) the petrous bone was drilled under navigation guidance with real-time view-through confirmation of 3D color-marked labyrinthine structures with observation under a microscopic operative view. Results Real-time identification of some structures in the petrous bone was performed, and adequate and precise drilling of the petrous bone was achieved without the risk of labyrinthine perforation or stress. Using this method, surgeons do not need to alternate their gaze between the surgical field and the navigation screen. Conclusions Due to the development of bony surface registration, this new technique is useful for drilling petrous bone in the middle and posterior fossa skull base surgeries.

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Bony surface registration of navigation system in the lateral or prone position: technical note

Acta Neurochirurgica ◽

10.1007/s00701-015-2528-z ◽

2015 ◽

Vol 157 (11) ◽

pp. 2017-2022 ◽

Cited By ~ 4

Author(s):

Toshihiro Ogiwara ◽

Tetsuya Goto ◽

Tatsuro Aoyama ◽

Alhusain Nagm ◽

Yasunaga Yamamoto ◽

...

Keyword(s):

Prone Position ◽

Navigation System ◽

Technical Note ◽

Surface Registration ◽

Bony Surface

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Visual navigation of an autonomous underwater vehicle based on the global search of image correspondences

Computer Optics ◽

10.18287/2412-6179-2018-42-3-457-467 ◽

2018 ◽

Vol 42 (3) ◽

pp. 457-467 ◽

Cited By ~ 1

Author(s):

A. N. Kamaev ◽

D. A. Karmanov

Keyword(s):

Navigation System ◽

Point Cloud ◽

Autonomous Underwater Vehicle ◽

Synthetic Data ◽

Real Data ◽

Point Clouds ◽

Underwater Vehicle ◽

Search Tree ◽

Visual Navigation ◽

Global Search

A task of autonomous underwater vehicle (AUV) navigation is considered in the paper. The images obtained from an onboard stereo camera are used to build point clouds attached to a particular AUV position. Quantized SIFT descriptors of points are stored in a metric tree to organize an effective search procedure using a best bin first approach. Correspondences for a new point cloud are searched in a compact group of point clouds that have the largest number of similar descriptors stored in the tree. The new point cloud can be positioned relative to the other clouds without any prior information about the AUV position and uncertainty of this position. This approach increases the reliability of the AUV navigation system and makes it insensitive to data losses, textureless seafloor regions and long passes without trajectory intersections. Several algorithms are described in the paper: an algorithm of point clouds computation, an algorithm for establishing point clouds correspondence, and an algorithm of building groups of potentially linked point clouds to speedup the global search of correspondences. The general navigation algorithm consisting of three parallel subroutines: image adding, search tree updating, and global optimization is also presented. The proposed navigation system is tested on real and synthetic data. Tests on real data showed that the trajectory can be built even for an image sequence with 60% data losses with successive images that have either small or zero overlap. Tests on synthetic data showed that the constructed trajectory is close to the true one even for long missions. The average speed of image processing by the proposed navigation system is about 3 frames per second with a middle-price desktop CPU.

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Study of Integrated Navigation System Based on Point Cloud Data and Map for Environment under Bridge

The Transactions of The Korean Institute of Electrical Engineers ◽

10.5370/kiee.2020.69.12.1970 ◽

2020 ◽

Vol 69 (12) ◽

pp. 1970-1976

Author(s):

Gwangsoo Park ◽

Young Jae Lee ◽

Sangkyung Sung

Keyword(s):

Navigation System ◽

Point Cloud ◽

Point Cloud Data ◽

Integrated Navigation ◽

Cloud Data ◽

Integrated Navigation System

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Contextual Awareness in a WSN/RFID Fusion Navigation System

ISRN Robotics ◽

10.1155/2014/198569 ◽

2014 ◽

Vol 2014 ◽

pp. 1-10 ◽

Cited By ~ 2

Author(s):

Guillermo Enriquez ◽

Sunhong Park ◽

Shuji Hashimoto

Keyword(s):

Navigation System ◽

Potential Field ◽

Robot Navigation ◽

Mobile Robot Navigation ◽

Autonomous Mobile Robot ◽

Fusion Algorithm ◽

Improve Accuracy ◽

Contextual Awareness ◽

Passive Rfid ◽

Insight Into

We present insight into how contextual awareness can be derived from, and improve, a fusion algorithm combing a WSN and a passive RFID for autonomous mobile robot navigation. Contextual awareness of not where the robot is, but rather the context in which it exists in relation to the environment and human user serves to improve accuracy in navigation, alters the speed of the robot, and modifies its behavior. The WSN system, using a virtual potential field, provides fast general navigation in open areas and the RFID provides precision navigation near static obstacles and in narrow areas. We verified the effectiveness of our approaches through navigational and guidance experiments.

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