Por favor, use este identificador para citar o enlazar este ítem: http://repositorio.educacionsuperior.gob.ec/handle/28000/2005
metadata.dc.type: masterThesis
Título : Marker Detection for Surgical Navigation
Autor : De la Cadena Ramos, Augusto Wladimir
metadata.dc.contributor.advisor: Koening, Andreas
Keeve, Erwin
Palabras clave : NAVEGACIÓN QUIRÚRGICA;MARCADORES;POSE;QR CODES
Fecha de publicación : 26-jun-2015
Editorial : Alemania / Universidad Técnica de Kaiserslautern / 2015
Citación : De la Cadena Ramos, Augusto Wladimir. (2015). Marker Detection for Surgical Navigation. (Trabajo de titulación de la Maestría en Ciencias en Ingeniería Eléctrica e Informática). Universidad Técnica de Kaiserslautern. Alemania. 83 p.
Descripción : This Master Thesis describes the foundations, development, design and Implementation of the necessary algorithms to estimate the position and orientation of a marker of a surgical instrument tracked by a camera used in medical operations. This project presents a solution based on QR Codes attached to instruments and detected by a high definition camera in a surgical environment. QR markers contain information about the identification of the instruments and their sizes, which is necessary to calculate the position of this planar marker. This thesis starts detailing the theory related to the QR Codes (encoding, reading, etc) and the State or Art of the marker navigation. Then the process of recognition of the markers in an image is described. The desired information of this process is obtaining the Region of Interest (ROI) and the encoded information for each QR Code. After that, the POSE is calculated using two different methods, the first one based on the point correspondences of the marker and the second one based on an iterative template matching comparing the homography transformation. Also is included a brief description about the software implementation. The algorithms are evaluated, giving as final results the RMS rotation and translation errors for the computed POSE. From the evaluation, in optimum conditions the system achieves an accuracy of 5.80 [mm] in translation and 1.24 o in rotation.
URI : http://repositorio.educacionsuperior.gob.ec/handle/28000/2005
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