In image-guided surgical navigation, instruments tools are tracked by a position sensor and their locations rendered along with the patient's anatomy. Conventional methods require an invasive, time-consuming and potentially uncertain process of intra-operative registration of the images to the patient. In a direct navigation system, such an intra-operative registration is replaced with pre-operative patient-independent calibration in a process that determines the relationship between the coordinate frame of imaging equipment and the coordinate frame of the position sensor.
This dissertation presents a method for pre-operatively calibrating a direct navigation system that used an optical position sensor and a mobile gantry CT scanner. A custom bi-local calibration device was designed and manufactured, after which existing navigation software was augmented with components that used the pre-operatively determined transformation to provide image-guided surgical navigation. The resulting system was tested in an image-guided operating suite using plastic bone models. In the validation stage, the inherent error was less than 0.4 mm and the target registration error was approximately 1.6 mm for a ceiling-mounted position sensor and 0.7 mm for a portable position sensor. This accuracy is consistent with the best intra-operative registrations reported in the literature and this calibration method may be useful in future surgical systems. / Thesis (Master, Computing) -- Queen's University, 2013-09-05 12:53:08.994
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:OKQ.1974/8252 |
| Date | 05 September 2013 |
| Creators | Belkova, Anna |
| Contributors | Queen's University (Kingston, Ont.). Theses (Queen's University (Kingston, Ont.)) |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English, English |
| Detected Language | English |
| Type | Thesis |
| Rights | This publication is made available by the authority of the copyright owner solely for the purpose of private study and research and may not be copied or reproduced except as permitted by the copyright laws without written authority from the copyright owner. |
| Relation | Canadian theses |
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