Altitude Tracking Using Colour Marker Based Navigation System for Image Guided Surgery

摘要

Optical tracking method has been largely usedfor medical navigation system in Robotic Image GuidedSurgery (IGS). One of the methods proposed by recentresearcher is to use colour feature as the marker for medicalinstruments detection and tracking. Since IGS system isusing preoperative imaging data set for reference, unintended patient movement can result in major errors. Inthis work, the position for the medical instrument's markeris being investigated to prove that the method can be usedfor tracking in navigation system. Moving target marker willrepresent the unintended patient movement. The toolmarker will be navigated autonomously using robotics armto adjust the changes. Multithreading programmingapproach is being implemented in the system to increase theposition update rate for real-time application. The system isable to track the markers and navigate the tool marker tothe target marker with certain error tolerance. The accuracyand performance of the system are still in the need of someimprovements.