High Accuracy Visualization Methods for Augmented Reality based Surgical Navigation
- Title
- High Accuracy Visualization Methods for Augmented Reality based Surgical Navigation
- Alternative Title
- 증강현실 기반 수술 내비게이션을 위한 고 정밀 시각화 기법들
- Author(s)
- Hyunseok Choi
- DGIST Authors
- Hong, Jaesung ; Choi, Hyunseok ; Lee, Hyunki
- Advisor
- 홍재성
- Co-Advisor(s)
- Hyunki Lee
- Issued Date
- 2020
- Awarded Date
- 2020-02
- Type
- Thesis
- Description
- Augmented reality, Surgical navigation, Camera calibration, Visualization, Optical tracking
- Table Of Contents
-
Ⅰ. INTRODUCTION 1
1-1. Introduction of AR based surgical navigation 1
1-2. Visualization techniques for the depth perception in AR navigation 2
1-3. Visualization techniques to compensate for lens distortion 3
1-4. The application of visualization technique : Bone tumor resection 4
1-5. The application of visualization technique : Bone tumor resection 5
Ⅱ. Methods 6
2-1 Camera calibration 6
2-1.1 Control points estimation method 8
2-1.2 Camera model 12
2-1.3 Mono camera calibration 16
2-1.4 Stereo camera calibration 17
2-2. Marker design 19
2-3. Mono camera-based tracking method 22
2-4. Stereo camera-based tracking method 23
2-5. Patient to image registration 25
2-6. Fundamental techniques for AR visualization 28
2-7. Advanced visualization techniques for AR navigation 31
2-7.1 Effective overlay technique considering lens distortion 31
2-7.2 Depth perception in AR 37
2-7.3 Visualization of safety margin 40
Ⅲ. Experiments 45
3-1. Control points estimation method 45
3-2. Camera calibration 50
3-2.1 Mono camera calibration 50
3-2.2 Stereo camera calibration 51
3-3. Mono camera-based tracking method 52
3-4. Stereo camera-based tracking method 53
3-5. Effective overlay technique considering lens distortion 55
3-6. Depth perception in AR 56
3-6.1 Subjects and evaluation items 56
3-6.2 Apparatus 56
3-6.3 Task definitions 57
3-6.4 HypoTheses and statistical analysis 59
3-7. Visualization of safety margin 60
Ⅳ. Results and discussion 62
4-1. Control points estimation method 62
4-1.1 Error of control points according to camera angle 62
4-1.2 Error of control points according to degree of blur 63
4-2. Camera calibration 65
4-2.1 Mono camera calibration 65
4-2.2 Stereo camera calibration 66
4-3. Mono camera-based tracking method 68
4-4. Stereo camera-based tracking method 69
4-5. Effective overlay technique considering lens distortion 69
4-6. Depth perception in AR 72
4-7. Visualization of safety margin 79
Ⅴ. Conclusion 82
- URI
-
http://dgist.dcollection.net/common/orgView/200000285575
http://hdl.handle.net/20.500.11750/11982
- Degree
- Doctor
- Department
- Robotics Engineering
- Publisher
- DGIST
- Related Researcher
-
-
Hong, Jaesung
- Research Interests Surgical Navigation; Surgical Robot; Medical Imaging; 영상 유도 수술 로봇; 수술 내비게이션
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- Files in This Item:
-
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Ph.D.
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