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27 February 2010Reducing depth uncertainty in large surgical workspaces, with
applications to veterinary medicine
This paper presents on-going research that addresses uncertainty along the Z-axis in image-guided surgery, for
applications to large surgical workspaces, including those found in veterinary medicine. Veterinary medicine lags human
medicine in using image guidance, despite MR and CT data scanning of animals. The positional uncertainty of a surgical
tracking device can be modeled as an octahedron with one long axis coinciding with the depth axis of the sensor, where
the short axes are determined by pixel resolution and workspace dimensions. The further a 3D point is from this device,
the more elongated is this long axis, and the greater the uncertainty along Z of this point's position, in relation to its
components along X and Y. Moreover, for a triangulation-based tracker, its position error degrades with the square of
distance. Our approach is to use two or more Micron Trackers to communicate with each other, and combine this feature
with flexible positioning. Prior knowledge of the type of surgical procedure, and if applicable, the species of animal that
determines the scale of the workspace, would allow the surgeon to pre-operatively configure the trackers in the OR for
optimal accuracy. Our research also leverages the open-source Image-guided Surgery Toolkit (IGSTK).
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Michel A. Audette, Ahmad Kolahi, Andinet Enquobahrie, Claudio Gatti, Kevin Cleary, "Reducing depth uncertainty in large surgical workspaces, with applications to veterinary medicine," Proc. SPIE 7625, Medical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling, 762525 (27 February 2010); https://doi.org/10.1117/12.843608