scholarly journals Calibrating 3D Scanner in the Coordinate System of Optical Tracker for Image-To-Patient Registration

2021 ◽  
Vol 15 ◽  
Author(s):  
Wenjie Li ◽  
Jingfan Fan ◽  
Shaowen Li ◽  
Zhaorui Tian ◽  
Zhao Zheng ◽  
...  
Keyword(s):  
Coordinate System ◽  
Surgical Navigation ◽  
Three Dimensional ◽  
Operation Time ◽  
Calibration Method ◽  
Phantom Study ◽  
3D Scanner ◽  
Registration Method ◽  
Registration Error ◽  
Patient Registration

Three-dimensional scanners have been widely applied in image-guided surgery (IGS) given its potential to solve the image-to-patient registration problem. How to perform a reliable calibration between a 3D scanner and an external tracker is especially important for these applications. This study proposes a novel method for calibrating the extrinsic parameters of a 3D scanner in the coordinate system of an optical tracker. We bound an optical marker to a 3D scanner and designed a specified 3D benchmark for calibration. We then proposed a two-step calibration method based on the pointset registration technique and nonlinear optimization algorithm to obtain the extrinsic matrix of the 3D scanner. We applied repeat scan registration error (RSRE) as the cost function in the optimization process. Subsequently, we evaluated the performance of the proposed method on a recaptured verification dataset through RSRE and Chamfer distance (CD). In comparison with the calibration method based on 2D checkerboard, the proposed method achieved a lower RSRE (1.73 mm vs. 2.10, 1.94, and 1.83 mm) and CD (2.83 mm vs. 3.98, 3.46, and 3.17 mm). We also constructed a surgical navigation system to further explore the application of the tracked 3D scanner in image-to-patient registration. We conducted a phantom study to verify the accuracy of the proposed method and analyze the relationship between the calibration accuracy and the target registration error (TRE). The proposed scanner-based image-to-patient registration method was also compared with the fiducial-based method, and TRE and operation time (OT) were used to evaluate the registration results. The proposed registration method achieved an improved registration efficiency (50.72 ± 6.04 vs. 212.97 ± 15.91 s in the head phantom study). Although the TRE of the proposed registration method met the clinical requirements, its accuracy was lower than that of the fiducial-based registration method (1.79 ± 0.17 mm vs. 0.92 ± 0.16 mm in the head phantom study). We summarized and analyzed the limitations of the scanner-based image-to-patient registration method and discussed its possible development.

S203 – The STAMP Registration for Image-guided Otologic Surgery

2008 ◽  
Vol 139 (2_suppl) ◽  
pp. P143-P144
Author(s):  
Nozomu Matsumoto ◽  
Jaesung Hong ◽  
Hashizume Makoto ◽  
Shizuo Komune
Keyword(s):  
Surgical Navigation ◽  
Phantom Study ◽  
Image Guided Surgery ◽  
Registration Method ◽  
Guided Surgery ◽  
Otologic Surgery ◽  
Image Guided ◽  
Registration Errors ◽  
Preoperative Procedures ◽  
New System

Objectives 1) Develop a less invasive but accurate enough registration strategy for otological surgical navigation. 2) Evaluate the new system in phantom study. 3) Evaluate the new system in cochlear implant surgeries. Methods A new registration method was developed for otologic surgery. Previously, the registration for accurate image-guided surgery often required invasive fiducial markers attached on patient's bone. We utilized the template of the bone surface to transfer the pre-made virtual bone-anchored markers to the patient's bone intraoperatively and eliminated the necessity for preoperative marker positioning or preoperative additional CT scan. Results We tested this Surface Template-Assisted Marker Positioning (STAMP) method using 5 temporal bone replicas, and in 5 ear surgeries (2 cochlear implants, 3 translabyrinthine acoustic neuroma surgeries) to investigate whether this method improves, or at least retains, the accuracy of image- guided surgery (IGS). The fiducial registration errors and target registration errors in the phantom study was ∼0.7 mm and ∼1.5 mm, respectively. The target registration errors in replicas were always less than 2 mm. In actual ear surgeries the fiducial registration errors were ∼0.6 mm and the target registration errors were less than 2 mm in 4 of 5 surgeries. All patients received successful cochlear implantation or tumor removal. Conclusions The new method reduced the preoperative procedures for patients but did not reduce the accuracy of the surgical navigation. Our method would be a useful IGS method in the field of otology where both accuracy and non-invasiveness are required.

scholarly journals AN IMAGE-BASED INEXPENSIVE 3D SCANNER

2003 ◽  
Vol 03 (02) ◽  
pp. 235-263
Author(s):  
ULAŞ YILMAZ ◽  
ADEM YAŞAR MÜLAYİM ◽  
VOLKAN ATALAY
Keyword(s):  
Rotation Axis ◽  
Three Dimensional ◽  
Calibration Method ◽  
Correction Method ◽  
Controlled Environment ◽  
Model Reconstruction ◽  
3D Scanner ◽  
Rigid Object ◽  
Bounding Volume

An image-based model reconstruction system is described in this paper where real images of a rigid object acquired under a simple but controlled environment are used to recover its three dimensional geometry and its surface texture. Based on a multi-image calibration method, an algorithm to extract the rotation axis of a turn-table has been developed. Furthermore, this algorithm can be extended to estimate robustly the initial bounding volume of the object to be modeled. The coarse volume obtained is then carved using a stereo correction method which removes the disadvantages of silhouette-based reconstruction by photoconsistency. The concept of surface particles is adapted in order to extract a texture map for the model. Some existing metrics are used to measure the quality of the reconstructed models.

An Automatic Calibration Method in the Crop Architecture 3D Scanner

2011 ◽  
Vol 204-210 ◽  
pp. 493-497
Author(s):  
Sheng Yong Xu ◽  
De Hua Li ◽  
Zhu Li ◽  
Qing Wei
Keyword(s):  
Three Dimensional ◽  
Calibration Method ◽  
Reference Points ◽  
Scanning System ◽  
Automatic Calibration ◽  
Automatic Method ◽  
Essential Work ◽  
3D Scanner ◽  
Average Value ◽  
Calibration Parameters

Calibration is an essential work in three-dimensional scanning system. The operation of existing calibration is complex and tedious. In this paper, we design a DLT-based automatic method of calibration, in which the calibration reference points are detected automatically. Then we can figure out a series of calibration parameters from these points. The average value of all parameters is just the calibration parameters. The experimental results show that the method we proposed is not only guaranteeing the calibration precision but also simplifying the calibration operation comparing with the traditional manual calibration method.

Measuring Data Registration Based on Triangle Constraint

2012 ◽  
Vol 271-272 ◽  
pp. 1346-1350
Author(s):  
Tie Li Ye ◽  
Xue Yi Li ◽  
Qing Liang Zeng
Keyword(s):  
Coordinate System ◽  
Reference Points ◽  
Measuring Error ◽  
Registration Method ◽  
Reference Coordinate System ◽  
Complex Product ◽  
Registration Error ◽  
Data Registration ◽  
Registration Algorithm ◽  
Fine Registration

This paper studied the fine registration techniques of measuring data of complex product and proposed a new registration method based on triangle constraint. Firstly, the paper made a research on specifying the proper measuring reference points and the setting of reference coordinate system, and afterwards proposed a fine registration algorithm of measuring data, Which is about realizing the fusion of reference coordinate system based on the congruent judgment of reference triangle and fulfilling precise match of data with measuring error on the basis of controlling the rotation of data blocks and minimizing the registration error.

scholarly journals A Calibration Method for a Self-Rotating, Linear-Structured-Light Scanning, Three-Dimensional Reconstruction System Based on Plane Constraints

Sensors ◽  
2021 ◽  
Vol 21 (24) ◽  
pp. 8359
Author(s):  
Jianping Zhao ◽  
Yong Cheng ◽  
Gen Cai ◽  
Shengbo He ◽  
Libing Liao ◽  
...  
Keyword(s):  
3D Reconstruction ◽  
Coordinate System ◽  
Structured Light ◽  
Three Dimensional ◽  
Calibration Method ◽  
The Self ◽  
Three Dimensional Reconstruction ◽  
Optimal Position ◽  
Structured Light Scanning ◽  
Dimensional Reconstruction

This paper proposes a calibration method for a self-rotating, linear-structured-light (LSL) scanning, three-dimensional reconstruction system based on plane constraints. The point cloud of plane target collected by the self-rotating, LSL scanning, 3D reconstruction system should be constrained to the basic principle of the plane equation; it can quickly and accurately calibrate the position parameters between the coordinate system of the LSL module and the coordinate system of the self-rotating, LSL scanning, 3D reconstruction system. Additionally, the transformation equation could be established with the calibrated optimal position parameters. This paper obtains the above-mentioned position parameters through experiments and uses the calibrated self-rotating, LSL scanning, 3D reconstruction system to perform three-dimensional scanning and reconstruction of the test piece. The experimental results show that the calibration method can effectively improve the measurement accuracy of the system.

scholarly journals Efficacy evaluation of three-dimensional printing assisted osteotomy guide plate in accurate osteotomy of adolescent cubitus varus deformity

2019 ◽  
Vol 14 (1) ◽  
Author(s):  
Yuan-Wei Zhang ◽  
Xin Xiao ◽  
Wen-Cheng Gao ◽  
Yan Xiao ◽  
Su-Li Zhang ◽  
...  
Keyword(s):  
3D Printing ◽  
Blood Loss ◽  
Three Dimensional ◽  
Operation Time ◽  
Varus Deformity ◽  
Conventional Group ◽  
Intraoperative Blood Loss ◽  
Cubitus Varus ◽  
Guide Plate ◽  
Significant Difference

Abstract Background This present study is aimed to retrospectively assess the efficacy of three-dimensional (3D) printing assisted osteotomy guide plate in accurate osteotomy of adolescent cubitus varus deformity. Material and methods Twenty-five patients (15 males and 10 females) with the cubitus varus deformity from June 2014 to December 2017 were included in this study and were enrolled into the conventional group (n = 11) and 3D printing group (n = 14) according to the different surgical approaches. The operation time, intraoperative blood loss, osteotomy degrees, osteotomy end union time, and postoperative complications between the two groups were observed and recorded. Results Compared with the conventional group, the 3D printing group has the advantages of shorter operation time, less intraoperative blood loss, higher rate of excellent correction, and higher rate of the parents’ excellent satisfaction with appearance after deformity correction (P < 0.001, P < 0.001, P = 0.019, P = 0.023). Nevertheless, no significant difference was presented in postoperative carrying angle of the deformed side and total complication rate between the two groups (P = 0.626, P = 0.371). Conclusions The operation assisted by 3D printing osteotomy guide plate to correct the adolescent cubitus varus deformity is feasible and effective, which might be an optional approach to promote the accurate osteotomy and optimize the efficacy.

scholarly journals Structured-light 3D scanning of exhibited historical clothing—a first-ever methodical trial and its results

2021 ◽  
Vol 9 (1) ◽  
Author(s):  
Jerzy Montusiewicz ◽  
Marek Miłosz ◽  
Jacek Kęsik ◽  
Kamil Żyła
Keyword(s):  
Cultural Heritage ◽  
Information Technologies ◽  
Structured Light ◽  
Three Dimensional ◽  
3D Models ◽  
3D Scanning ◽  
Dimensional Representation ◽  
3D Scanner ◽  
Three Dimensional Representation ◽  
3D Scanners

AbstractHistorical costumes are part of cultural heritage. Unlike architectural monuments, they are very fragile, which exacerbates the problems of their protection and popularisation. A big help in this can be the digitisation of their appearance, preferably using modern techniques of three-dimensional representation (3D). The article presents the results of the search for examples and methodologies of implementing 3D scanning of exhibited historical clothes as well as the attendant problems. From a review of scientific literature it turns out that so far practically no one in the world has made any methodical attempts at scanning historical clothes using structured-light 3D scanners (SLS) and developing an appropriate methodology. The vast majority of methods for creating 3D models of clothes used photogrammetry and 3D modelling software. Therefore, an innovative approach was proposed to the problem of creating 3D models of exhibited historical clothes through their digitalisation by means of a 3D scanner using structural light technology. A proposal for the methodology of this process and concrete examples of its implementation and results are presented. The problems related to the scanning of 3D historical clothes are also described, as well as a proposal how to solve them or minimise their impact. The implementation of the methodology is presented on the example of scanning elements of the Emir of Bukhara's costume (Uzbekistan) from the end of the nineteenth century, consisting of the gown, turban and shoes. Moreover, the way of using 3D models and information technologies to popularise cultural heritage in the space of digital resources is also discussed.

scholarly journals Research of Calibration Method for Industrial Robot Based on Error Model of Position

2021 ◽  
Vol 11 (3) ◽  
pp. 1287
Author(s):  
Tianyan Chen ◽  
Jinsong Lin ◽  
Deyu Wu ◽  
Haibin Wu
Keyword(s):  
Coordinate System ◽  
Industrial Robot ◽  
Calibration Method ◽  
Error Model ◽  
Position Error ◽  
Industrial Robots ◽  
Positioning Error ◽  
Robot Position ◽  
General Measurement ◽  
Parameter Error

Based on the current situation of high precision and comparatively low APA (absolute positioning accuracy) in industrial robots, a calibration method to enhance the APA of industrial robots is proposed. In view of the "hidden" characteristics of the RBCS (robot base coordinate system) and the FCS (flange coordinate system) in the measurement process, a comparatively general measurement and calibration method of the RBCS and the FCS is proposed, and the source of the robot terminal position error is classified into three aspects: positioning error of industrial RBCS, kinematics parameter error of manipulator, and positioning error of industrial robot end FCS. The robot position error model is established, and the relation equation of the robot end position error and the industrial robot model parameter error is deduced. By solving the equation, the parameter error identification and the supplementary results are obtained, and the method of compensating the error by using the robot joint angle is realized. The Leica laser tracker is used to verify the calibration method on ABB IRB120 industrial robot. The experimental results show that the calibration method can effectively enhance the APA of the robot.

scholarly journals Traditional versus mirror three-dimensional printing technology for isolated acetabular fractures: a retrospective study with a median follow-up of 25 months

2021 ◽  
Vol 49 (6) ◽  
pp. 030006052110285
Author(s):  
Kai Xiao ◽  
Bo Xu ◽  
Lin Ding ◽  
Weiguang Yu ◽  
Lei Bao ◽  
...  
Keyword(s):  
3D Printing ◽  
Three Dimensional ◽  
Operation Time ◽  
Harris Hip Score ◽  
Acetabular Fractures ◽  
Printing Technology ◽  
Three Dimensional Printing ◽  
3D Printing Technology ◽  
Significant Difference

Objective To assess the outcomes of traditional three-dimensional (3D) printing technology (TPT) versus mirror 3D printing technology (MTT) in treating isolated acetabular fractures (IAFs). Methods Consecutive patients with an IAF treated by either TPT or MTT at our tertiary medical centre from 2012 to 2018 were retrospectively reviewed. Follow-up was performed 1, 3, 6, and 12 months postoperatively and annually thereafter. The primary outcome was the Harris hip score (HHS), and the secondary outcomes were major intraoperative variables and key orthopaedic complications. Results One hundred fourteen eligible patients (114 hips) with an IAF (TPT, n = 56; MTT, n = 58) were evaluated. The median follow-up was 25 months (range, 21–28 months). At the last follow-up, the mean HHS was 82.46 ±14.70 for TPT and 86.30 ± 13.26 for MTT with a statistically significant difference. Significant differences were also detected in the major intraoperative variables (operation time, intraoperative blood loss, number of fluoroscopic screenings, and anatomical reduction number) and the major orthopaedic complications (loosening, implant failure, and heterotopic ossification). Conclusion Compared with TPT, MTT tends to produce accurate IAF reduction and may result in better intraoperative variables and a lower rate of major orthopaedic complications.

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