2010 Summer Project Week Tracking Neuroendoscope Using EM Tracker and OpenIGTLink
Pentax Neuroendoscope
Ascension Tracking Device
Workspace
Key Investigators
- BWH: Laurent Chauvin, Nobuhiko Hata, Junichi Tokuda
Objective
The main goal of the Neuroendoscopic project is to provide a better view of the environment around the tip of the endoscope to neurosurgeons.
To achieve this goal, the picture from the camera will be overlayed by the view from Slicer.
A Pentax Neuroendoscope and an Ascension EM system tracking are used.
Approach, Plan
First, we are using an Ascension EM tracking, to simulate the neuroendoscope tracker. Position and orientation of the tracker are send to Slicer (3.7) to control the 3D model via OpenIGTLink.
Then, we are using a webcam to simulate the neuroendoscope camera, and a camera calibration with OpenCV is performed. The Ascension tracker is stuck to the camera to get the position and orientation of the camera.
Next, we will have to use all of this together to simulate the neuroendoscope tracking system, and after, try with the endoscope itself.
Progress
- Almost finish navigation part (position and orientation of the tracker on Slicer after registration (NeuroNav Module))
- Talk with Atsushi, who did the OpenCV part (Camera Calibration) which would be integrated in the module
- Start programming Slicer Module to get an interface
