Development of an automated colour marker based medical navigation system for image-guided surgery /
Image Guided Surgery (IGS) uses computer technology with the graphical display for pre-surgical planning and guiding or performing the surgical intervention. The medical navigation system in IGS can provide two functionalities; visualization and guidance of the surgical tool motion. Tool tracking in...
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| Main Author: | |
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| Format: | Thesis |
| Language: | English |
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Kuala Lumpur :
Kulliyyah of Engineering, International Islamic University Malaysia,
2018
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| Subjects: | |
| Online Access: | http://studentrepo.iium.edu.my/handle/123456789/4573 |
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| Summary: | Image Guided Surgery (IGS) uses computer technology with the graphical display for pre-surgical planning and guiding or performing the surgical intervention. The medical navigation system in IGS can provide two functionalities; visualization and guidance of the surgical tool motion. Tool tracking in visualization is very important for accuracy and precision. Currently, due to optical tracking limitation specifically obstructed line-of-sight (LOS), many alternatives have been investigated by the researchers. However, these alternative approaches cannot match the accuracy achieved by using optical tracking methods. Thus, optical tracking using colour markers is being proposed in this study as an alternative method for the tool detection and tracking process in the medical navigation system. This is to reduce the LOS limitation without compromising the accuracy. Another limitation of the current IGS system is the unexpected movements of the patient that will affect the accuracy and precision of the entire surgery. Automated tracking using colour markers is being proposed in this study. The proposed navigation system is developed using C++ with multithreading algorithm for real-time accuracy. The graphical user interface is also included for system control and online monitoring display. The proposed navigation system is able to track the tool marker and automatically navigate to the target marker using a robotic arm with certain error tolerance. Although some improvements are needed in order to increase the accuracy and precision of the navigation process, the proposed system has significantly improved the processing time for position determination, isolated the robotic control unit and improved the refresh rate of the system graphical user interface by applying multithreading algorithm in the system control code. Thus, it is possible to use the colour feature as the marker for the tool detection and tracking in the medical navigation system. This approach is recommended due to its low manufacturing and maintenance cost while maintaining accuracy property of the optical tracking method. Keywords: Optical Tracking System, Surgical Tool Tracking, Image Processing, Image-Guided Surgery, Medical Navigation System, Multithreading Algorithm |
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| Physical Description: | xiv, 116 leaves : colour illustrations ; 30cm. |
| Bibliography: | Includes bibliographical references (leaves 76-80). |