Design and Implementation of an Improved Real-Time Tracking System for Navigation Surgery by Fusion of Optical and Inertial Tracking Methods

2012 ◽  
Vol 186 ◽  
pp. 273-279 ◽  
Author(s):  
Ali Soroush ◽  
Farzam Farahmand ◽  
Hassan Salarieh
Keyword(s):  
Inertial Sensors ◽  
Tracking System ◽  
Time Integration ◽  
Optical Tracking ◽  
Tracking Systems ◽  
Fusion Algorithm ◽  
Navigation Surgery ◽  
Orientation Data ◽  
Individual System ◽  
Real Time Tracking

The fusion of the optical and inertial tracking systems seems an attractive solution to solve the shadowing problem of the optical tracking systems, and remove the time integration troubles of the inertial sensors. We developed a fusion algorithm for this purpose, based on the Kalman filter, and examined its efficacy to improve the position and orientation data, obtained by each individual system. Experimental results indicated that the proposed fusion algorithm could effectively estimate the 2 seconds missing data of the optical tracker.

Head-Mounted Standalone Real-Time Tracking System for Moving Light-Emitting Targets Fusing Vision and Inertial Sensors

2020 ◽  
Vol 69 (11) ◽  
pp. 8953-8961 ◽  
Author(s):  
Francesca Digiacomo ◽  
Abanti Shama Afroz ◽  
Riccardo Pelliccia ◽  
Francesco Inglese ◽  
Mario Milazzo ◽  
...  
Keyword(s):  
Real Time ◽  
Inertial Sensors ◽  
Tracking System ◽  
Light Emitting ◽  
Real Time Tracking

Enhancing the Accuracy of MRI-Compatible Robots with an Optical Tracking System

2008 ◽  
Vol 144 ◽  
pp. 191-195
Author(s):  
Petri Junttila ◽  
Kalervo Nevala ◽  
Petter Kroneld
Keyword(s):  
Control System ◽  
Tracking System ◽  
Optical Tracking ◽  
Measurement Properties ◽  
Translation Vector ◽  
Measurement Device ◽  
Optical Tracking System ◽  
Orientation Data ◽  
Measuring Device ◽  
Measurement Series

Magnetic resonance imaging (MRI) is currently a widely used technology for obtaining a three-dimensional image of a patient’s internal structures. This study examines the measurement properties of an optical tracking system utilised in the MRI room. The results were used to assess the suitability of the device to be used as a part of the control system of a surgical robot. The position and orientation of the instrument, MRI scanner and the patient are measured using an optical tracking system in the MRI room. The measurement data can be used to display the instrument used as a part of the image of the patient. The optical tracking system used in the MRI room can also be considered as a part of the control system of a robot located in the room. When considering such use, the operations of the measuring device in different measurement conditions must be known. In terms of robot control, it is important to know the deviation attributed to measurement when defining the translation vector and orientation between two trackers. Five measurement series were carried out using the measurement device to examine the deviation in the translation vector and orientation data between two trackers. The distance and position between the trackers were changed between the measurement series. During the measurement series, the measurement device was moved to different distances from the trackers and the translation vector and orientation between the trackers were defined on the basis of the measurement results obtained. The measurements showed that the deviation of the translation vector did not significantly change as the measurement distance increased, but the deviation of orientation data between different trackers increased significantly. Deviation in the translation vector increased as the distance between trackers increased, but deviation in orientation did not change significantly.

Ghost marker detection and elimination in marker-based optical tracking systems for real-time tracking in stereotactic body radiotherapy

2014 ◽  
Vol 41 (10) ◽  
pp. 101713 ◽  
Author(s):  
Guanghua Yan ◽  
Jonathan Li ◽  
Yin Huang ◽  
Kathryn Mittauer ◽  
Bo Lu ◽  
...  
Keyword(s):  
Real Time ◽  
Stereotactic Body Radiotherapy ◽  
Optical Tracking ◽  
Tracking Systems ◽  
Real Time Tracking ◽  
Marker Detection

GPS and GSM Based Tracking System for Objects Moving over Wide Geographical Areas

2018 ◽  
Vol 2 (1) ◽  
Author(s):  
Fatima Ameen ◽  
Ziad Mohammed ◽  
Abdulrahman Siddiq
Keyword(s):  
Global Positioning System ◽  
Mobile Communications ◽  
Moving Objects ◽  
Tracking System ◽  
Geographical Area ◽  
Tracking Systems ◽  
Acceptable Result ◽  
Internet Service ◽  
Global Positioning ◽  
Tracking Objects

Tracking systems of moving objects provide a useful means to better control, manage and secure them. Tracking systems are used in different scales of applications such as indoors, outdoors and even used to track vehicles, ships and air planes moving over the globe. This paper presents the design and implementation of a system for tracking objects moving over a wide geographical area. The system depends on the Global Positioning System (GPS) and Global System for Mobile Communications (GSM) technologies without requiring the Internet service. The implemented system uses the freely available GPS service to determine the position of the moving objects. The tests of the implemented system in different regions and conditions show that the maximum uncertainty in the obtained positions is a circle with radius of about 16 m, which is an acceptable result for tracking the movement of objects in wide and open environments.

scholarly journals In Vitro and In Vivo Assessment of a New Workflow for the Acquisition of Mandibular Kinematics Based on Portable Tracking System with Passive Optical Reflective Markers

2021 ◽  
Vol 11 (9) ◽  
pp. 3947
Author(s):  
Marco Farronato ◽  
Gianluca M. Tartaglia ◽  
Cinzia Maspero ◽  
Luigi M. Gallo ◽  
Vera Colombo
Keyword(s):  
Measurement Error ◽  
Tracking System ◽  
Intraclass Correlation ◽  
Optical Tracking ◽  
Optical Tracking System ◽  
Rater Reliability ◽  
Tracking Device ◽  
Mandibular Kinematics

Clinical use of portable optical tracking system in dentistry could improve the analysis of mandibular movements for diagnostic and therapeutic purposes. A new workflow for the acquisition of mandibular kinematics was developed. Reproducibility of measurements was tested in vitro and intra- and inter-rater repeatability were assessed in vivo in healthy volunteers. Prescribed repeated movements (n = 10) in three perpendicular directions of the tracking-device coordinate system were performed. Measurement error and coefficient of variation (CV) among repetitions were determined. Mandibular kinematics of maximum opening, left and right laterality, protrusion and retrusion of five healthy subjects were recorded in separate sessions by three different operators. Obtained records were blindly examined by three observers. Intraclass correlation coefficient (ICC) was calculated to estimate inter-rater and intra-rater reliability. Maximum in vitro measurement error was 0.54 mm and CV = 0.02. Overall, excellent intra-rater reliability (ICC > 0.90) for each variable, general excellent intra-rater reliability (ICC = 1.00) for all variables, and good reliability (ICC > 0.75) for inter-rater tests were obtained. A lower score was obtained for retrusion with “moderate reliability” (ICC = 0.557) in the inter-rater tests. Excellent repeatability and reliability in optical tracking of primary movements were observed using the tested portable tracking device and the developed workflow.

scholarly journals High Precision Optical Tracking System Based on near Infrared Trinocular Stereo Vision

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2528
Author(s):  
Songlin Bi ◽  
Yonggang Gu ◽  
Jiaqi Zou ◽  
Lianpo Wang ◽  
Chao Zhai ◽  
...  
Keyword(s):  
High Precision ◽  
Stereo Vision ◽  
Near Infrared ◽  
Nearest Neighbor ◽  
Tracking System ◽  
Optical Tracking ◽  
Tracking Accuracy ◽  
Optical Tracking System ◽  
Dynamic Tracking ◽  
Trinocular Stereo

A high precision optical tracking system (OTS) based on near infrared (NIR) trinocular stereo vision (TSV) is presented in this paper. Compared with the traditional OTS on the basis of binocular stereo vision (BSV), hardware and software are improved. In the hardware aspect, a NIR TSV platform is built, and a new active tool is designed. Imaging markers of the tool are uniform and complete with large measurement angle (>60°). In the software aspect, the deployment of extra camera brings high computational complexity. To reduce the computational burden, a fast nearest neighbor feature point extraction algorithm (FNNF) is proposed. The proposed method increases the speed of feature points extraction by hundreds of times over the traditional pixel-by-pixel searching method. The modified NIR multi-camera calibration method and 3D reconstruction algorithm further improve the tracking accuracy. Experimental results show that the calibration accuracy of the NIR camera can reach 0.02%, positioning accuracy of markers can reach 0.0240 mm, and dynamic tracking accuracy can reach 0.0938 mm. OTS can be adopted in high-precision dynamic tracking.

Automated Real-Time Tracking System for Socially-Housed Physically Identical Mice

2021 ◽  
Author(s):  
Yanbo Wang ◽  
Alena V. Savonenko ◽  
Ralph Etienne-Cummings
Keyword(s):  
Real Time ◽  
Tracking System ◽  
Real Time Tracking ◽  
Physically Identical
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