An algorithm to implement a fluoroscopic stereo system using a single simulated fluoroscope and an optical navigator

  • Authors:

  • Mario Donnici;Michele Perrelli;Paola Nudo;Guido Danieli

  • Affiliations:

  • Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Università degli Studi di Udine, Udine, Italy and Calabrian High Tech Srl, Rende, CS, Italy;Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Università degli Studi di Udine, Udine, Italy and Calabrian High Tech Srl, Rende, CS, Italy;Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Università degli Studi di Udine, Udine, Italy and Calabrian High Tech Srl, Rende, CS, Italy;Dipartimento di Ingegneria Elettrica, Gestionale e Meccanica, Università degli Studi di Udine, Udine, Italy and Calabrian High Tech Srl, Rende, CS, Italy

  • Venue:
  • AMERICAN-MATH'12/CEA'12 Proceedings of the 6th WSEAS international conference on Computer Engineering and Applications, and Proceedings of the 2012 American conference on Applied Mathematics
  • Year:
  • 2012

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Abstract

This paper presents an algorithm to use an optical navigator and a single simulated fluoroscope in order to obtain a stereo representation of internal tissues which will allow, combined with a six DOF lockable kinematic chain bearing a suitable end effector, to guide precision biopsies. The method is based on the use of the principles of stereophotogrammetry applied to a correctly calibrated fluoroscope. In this paper however the fluoroscope is replaced by a camera, in order to reduce the risks for the operators during this first research stage. In the near future however, we will repeat the same procedure in the surgery room environment.