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Medical optical localizer based on Apple iPhone smartphone

4 pagesPublished: June 13, 2017


Medical navigation providing intraoperative localization of medical instruments plays a crucial role in computer assisted surgery (CAS). Several different multiple- camera standalone optical localizers are available on the market nowadays. Our aim was to develop, easy-to-use, low-cost and portable medical localizer based on iPhone 6S camera. We decided to develop a specialized smartphone app which is able to detect two rigid bodies (RB) on the camera screen and estimate their position both in devices and global coordinate system using sensor fusion with smartphones accelerometer and gyroscope. In the procedure one RB serve as reference and the other is attached to the tool. The prototype was preliminary calibrated using 2D and 3D VDI/VDE 2634 standard. Validation procedure involved measurements of the position and distance of two RBs placed 500 mm from each other in a distance of 1 meter to the smartphones camera. The measurements were taken from three different angles: -30°, 0°, 30° regarding RBs plane. The standard deviation of the measured distance was 0.62 mm with average measured distance of 498.0 mm. The other tests were made in a test-setup where the virtual offset of ultrasound probe was added to one of the RBs so the distance between probe and reference was 195 mm. The tests showed that the position of ultrasound probe is estimated with standard deviation of 0.70 mm and the average measured distance is 195.18 mm. Due to the promising results of those evaluations, we plan to perform more specific tests in clinical setup in near future.

Keyphrases: computer assisted surgery, Smartphone, medical navigation, optical tracking, optical localizer

In: Klaus Radermacher and Ferdinando Rodriguez Y Baena (editors). CAOS 2017. 17th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, vol 1, pages 131--134

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