Merging virtual objects with the real world: seeing ultrasound imagery within the patient
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Technologies for augmented reality systems: realizing ultrasound-guided needle biopsies
SIGGRAPH '96 Proceedings of the 23rd annual conference on Computer graphics and interactive techniques
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Augmented Reality Guidance for Needle Biopsies: A Randomized, Controlled Trial in Phantoms
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
Augmented Reality Visualization for Laparoscopic Surgery
MICCAI '98 Proceedings of the First International Conference on Medical Image Computing and Computer-Assisted Intervention
Augmented Reality Visualization of Ultrasound Images: System Description, Calibration, and Features
ISAR '01 Proceedings of the IEEE and ACM International Symposium on Augmented Reality (ISAR'01)
Optical Versus Video See-Through Head-Mounted Displays in Medical Visualization
Presence: Teleoperators and Virtual Environments
Stereo Augmented Reality in the Surgical Microscope
Presence: Teleoperators and Virtual Environments
A High Performance AR System for Medical Applications
ISMAR '03 Proceedings of the 2nd IEEE/ACM International Symposium on Mixed and Augmented Reality
Synchronizing 3D Movements for Quantitative Comparison and Simultaneous Visualization of Actions
ISMAR '05 Proceedings of the 4th IEEE/ACM International Symposium on Mixed and Augmented Reality
International Journal of Computer Vision
Predicting and estimating the accuracy of n-occular optical tracking systems
ISMAR '06 Proceedings of the 5th IEEE and ACM International Symposium on Mixed and Augmented Reality
pq-space based non-photorealistic rendering for augmented reality
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Endoscopic navigation for minimally invasive suturing
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Depth perception: a major issue in medical AR: evaluation study by twenty surgeons
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
Markerless endoscopic registration and referencing
MICCAI'06 Proceedings of the 9th international conference on Medical Image Computing and Computer-Assisted Intervention - Volume Part I
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We extended a system for augmented reality visualization to include the capability for instrument tracking. The original system is based on a videosee-through head-mounted display and features single-camera tracking. The tracking camera is head-mounted, rigidly fixed to a stereo pair of cameras that provide a live video view of a workspace. The tracker camera includes an infrared illuminator and works in conjunction with a set of retroreflective markers that are placed around the workspace. This marker frame configuration delivers excellent pose information for a stable overlay of graphics onto the video images. Using the single camera also for instrument tracking with relatively small marker clusters, however, encounters problems of marker identification and of noise in the pose data. We present a multilevel planar marker design, which we used to build a needle placement phantom. In this phantom, we achieved a stable augmentation; the user can see the location of the hidden target and the needle without perceptible jitter of the overlaid graphics. Piercing the needle through a foam window and hitting the target is then intuitive and comfortable. Over a hundred users have tested the system, and are consistently able to correctly place the needle on the 6mm target without prior training.