Compact Tool-Mounted Optical Tracking System

• Overall Accuracy: 1.2 ± 0.1 mm (RMSE)
• Developed with the support of Dr. Mariana Bernardes and Dr. Junichi Tokuda @ Brigham and Women's Hospital and Harvard Medical School
• Research conducted as part of the 2024 Boston University Research in Science and Engineering program

Setup

1. Install dependencies in requirements.txt.
2. Open Slicer with OpenIGTLink modules installed.
3. Create new OpenIGTLinkIF Connector on default port 18944.
4. Run tracker.py
5. Use Position topic as driver for Volume Reslice Driver.

Note on requirements.txt:

Do not pip install pywin32 on non-Windows machines (i.e., remove this from requirements.txt). You may need to pip install opencv-contrib-python.

Calibration

Three calibration notebooks and a 14x10 calibration grid are provided under calib/ based on OpenCV and scikit-surgery documentation tutorials. Innodisk EV2U-SGR1 camera was calibrated using calib.ipynb and provided grid. calib/ also includes generate_arucoboard.ipynb if you need to generate a board of ArUco fiducials.