2016 CAR SHOW POSTER - LANCETitle 2016 CAR SHOW POSTER - LANCE.png Created Date 20160823163707Z
Poster HearRestoreGateway 2016 NanoTeraAnnualMeeting
Transcript of Poster HearRestoreGateway 2016 NanoTeraAnnualMeeting
Overview and principle Ø Goal: Use a 6D tracking system to provide highly precise and accurate tracking for minimally invasive microsurgeries, such as cochlear implants, hip replacement, …
Ø HearRestore: Need to know the posiAon of the roboAc tool with respect to the paAent at all Ames under varying condiAons
Ø The tracker can be placed on the surgical tool, and the target on the paAent Ø Teams: Atracsys (industrial partner), CSEM (R&D partner), ARTORG (R&D partner) The tracking system Ø Consists of a tracker, a 5-‐LEDs target, a 6D tracking algorithm and a navigaAon applicaAon Ø The tracker itself has two cameras, synchronizaAon (infrared) and communicaAon (Bluetooth)
modules, and an embedded 2D spaceCoder algorithm compuAng the 2D posiAon of each LED on the target
Ø The tracker synchronizes the camera with the LEDs, computes 2D posiAons, sends them to the computer that uses a 6D tracking algorithm to compute the posiAon of the target
Ø The navigaAon applicaAon shows in real Ame the 6D posiAon of the instrument w.r.t to the paAent Towards the industrializa9on of the HearRestore demonstrator Ø Uses two tracking devices (stereo system)
Ø Higher accuracy thanks to beTer depth esAmaAon Ø Wireless
Ø The tracker communicates with the computer via Bluetooth Ø Both the target and tracker are baTery operated
Ø BeTer opAcal front-‐end: Novel mask-‐on-‐filter Ø More compact
Ø A light source projects the shadow of a parAcular paTern onto the sensor
Ø Each pixel carries informaAon about the 3D posiAon of the light source
Ø A Fourier-‐like analysis of the shadow assesses the 3D posiAon
A wireless tracker pla[orm for 6D surgical navigaAon
HearRestore Gateway
A. Chebira1, P. Nussbaum1, E. Grenet1, P-‐A. Beuchat1, L.Cosse;ni2, M. Hälg2, G. MarB2, E. Franzi1 1Embedded Vision Systems Group, CSEM SA, Neuchâtel, Switzerland
2Atracsys, Puidoux, Switzerland
spaceCoder principle
Tracking in image-guided micro-surgeries
CSEM SA | Rue Jaquet-Droz 1 | CH-2002 Neuchâtel | T +41 32 720 5111 | F +41 32 720 5700
What’s next
Ø Finalize communicaAon module
Ø Algorithms
Ø Stereo 6D algorithm
Ø CalibraAon methods for 2D and 6D computaAon
Ø Binning methods to increase the frame rate
Ø Performance evaluaAon
Ø Accuracy and precision benchmark lab experiments
Ø CalibraAon methods for 2D and 6D posiAons
Ø NavigaAon applicaAon (with ARTORG)
Ø System integraAon
Patents Ø “6D posiAoning system using a shadow sensor”, US applicaAon number 14597434, filed 15-‐Jan-‐2015
HearRestore robotic arm controller
Drilling head6D tracker
LEDsTarget Tablet for 6D computation & navigation
Bluetooth
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