Hidden Error in Optical Stereotactic Navigation Systems and Strategy to Maximize Accuracy

2021 ◽  
pp. 1-8
Author(s):  
Marshall T. Holland ◽  
Kevin Mansfield ◽  
Ann Mitchell ◽  
Kim J. Burchiel
Keyword(s):  
Visual Observation ◽  
Entry Point ◽  
Successful Implementation ◽  
Neurosurgical Procedures ◽  
Navigation Systems ◽  
Camera System ◽  
Potential Sources ◽  
Stereotactic Navigation ◽  
Source Of Error ◽  
Reference Plate

Background: Optical neuronavigation has been established as a reliable and effective adjunct to many neurosurgical procedures. Operations such as asleep deep brain stimulation (aDBS) benefit from the potential increase in accuracy that these systems offer. Built into these technologies is a degree of tolerated error that may exceed the presumed accuracy resulting in suboptimal outcomes. Objective: The objective of this study was to identify an underlying source of error in neuronavigation and determine strategies to maximize accuracy. Methods: A Medtronic Stealth system (Stealth Station 7 hardware, S8 software, version 3.1.1) was used to simulate an aDBS procedure with the Medtronic Nexframe system. Multiple configurations and orientations of the Nexframe-Nexprobe system components were examined to determine potential sources of, and to quantify navigational error, in the optical navigation system. Virtual entry point and target variations were recorded and analyzed. Finally, off-plan error was recorded with the AxiEM system and visual observation on a phantom head. Results: The most significant source of error was found to be the orientation of the reference marker plate configurations to the camera system, with the presentation of the markers perpendicular to the camera line of site being the most accurate position. Entry point errors ranged between 0.134 ± 0.048 and 1.271 ± 0.0986 mm in a complex, reproducible pattern dependent on the orientation of the Nexprobe reference plate. Target errors ranged between 0.311 ± 0.094 and 2.159 ± 0.190 mm with a similarly complex, repeatable pattern. Representative configurations were tested for physical error at target with errors ranging from 1.2 mm to 1.4 mm. Throughout data acquisition, no orientation was indicated as outside the acceptable tolerance by the Stealth software. Conclusions: Use of optical neuronavigation is expected to increase in frequency and variety of indications. Successful implementation of this technology depends on understanding the tolerances built into the system. In situations that depend on extremely high precision, surgeons should familiarize themselves with potential sources of error so that systems may be optimized beyond the manufacturer’s built-in tolerances. We recommend that surgeons align the navigation reference plate and any optical instrument’s reference plate spheres in the plane perpendicular to the line of site of the camera to maximize accuracy.

Endoscopic approach to colloid cyst: what is the optimal entry point and trajectory?

2014 ◽  
Vol 121 (4) ◽  
pp. 790-796 ◽  
Author(s):  
Leonardo Rangel-Castilla ◽  
Fangxiang Chen ◽  
Lawrence Choi ◽  
Justin C. Clark ◽  
Peter Nakaji
Keyword(s):  
Colloid Cyst ◽  
Mean Value ◽  
Entry Point ◽  
Preoperative Imaging ◽  
Target Point ◽  
Coronal Suture ◽  
Anatomical Structures ◽  
Entry Points ◽  
Stereotactic Navigation ◽  
Neurovascular Structures

Object An optimal entry point and trajectory for endoscopic colloid cyst (ECC) resection helps to protect important neurovascular structures. There is a large discrepancy in the entry point and trajectory in the neuroendoscopic literature. Methods Trajectory views from MRI or CT scans used for cranial image guidance in 39 patients who had undergone ECC resection between July 2004 and July 2010 were retrospectively evaluated. A target point of the colloid cyst was extended out to the scalp through a trajectory carefully observed in a 3D model to ensure that important anatomical structures were not violated. The relation of the entry point to the midline and coronal sutures was established. Entry point and trajectory were correlated with the ventricular size. Results The optimal entry point was situated 42.3 ± 11.7 mm away from the sagittal suture, ranging from 19.1 to 66.9 mm (median 41.4 mm) and 46.9 ± 5.7 mm anterior to the coronal suture, ranging from 36.4 to 60.5 mm (median 45.9 mm). The distance from the entry point to the target on the colloid cyst varied from 56.5 to 78.0 mm, with a mean value of 67.9 ± 4.8 mm (median 68.5 mm). Approximately 90% of the optimal entry points are located 40–60 mm in front of the coronal suture, whereas their perpendicular distance from the midline ranges from 19.1 to 66.9 mm. The location of the “ideal” entry points changes laterally from the midline as the ventricles change in size. Conclusions The results suggest that the optimal entry for ECC excision be located at 42.3 ± 11.7 mm perpendicular to the midline, and 46.9 ± 5.7 mm anterior to the coronal suture, but also that this point differs with the size of the ventricles. Intraoperative stereotactic navigation should be considered for all ECC procedures whenever it is available. The entry point should be estimated from the patient's own preoperative imaging studies if intraoperative neuronavigation is not available. An estimated entry point of 4 cm perpendicular to the midline and 4.5 cm anterior to the coronal suture is an acceptable alternative that can be used in patients with ventriculomegaly.

Low-Altitude and High-Speed Terrain Tracking Method for Lightweight AUVs

2018 ◽  
Vol 30 (6) ◽  
pp. 971-979 ◽  
Author(s):  
Toshihiro Maki ◽  
Yukiyasu Noguchi ◽  
Yoshinori Kuranaga ◽  
Kotohiro Masuda ◽  
Takashi Sakamaki ◽  
...  
Keyword(s):  
High Speed ◽  
Low Cost ◽  
Autonomous Underwater Vehicles ◽  
Vertical Plane ◽  
Potential Method ◽  
Visual Observation ◽  
Doppler Velocity ◽  
Navigation Systems ◽  
Inertial Navigation Systems ◽  
Constant Altitude

This paper proposes a new method for cruising-type autonomous underwater vehicles (AUVs) to track rough seafloors at low altitudes while also maintaining a high surge velocity. Low altitudes are required for visual observation of the seafloor. The operation of AUVs at low altitudes and high surge velocities permits rapid seafloor imaging over a wide area. This method works without high-grade sensors, such as inertial navigation systems (INS), Doppler velocity logs (DVL), or multi-beam sonars, and it can be implemented in lightweight AUVs. The seafloor position is estimated based on a reflection intensity map defined on a vertical plane, using measurements from scanning sonar and basic sensors of depth, attitude, and surge velocity. Then, based on the potential method, a reference pitch angle is generated that allows the AUV to follow the seafloor at a constant altitude. This method was implemented in the AUV HATTORI, and a series of sea experiments were carried out to evaluate its performance. HATTORI (Highly Agile Terrain Tracker for Ocean Research and Investigation) is a lightweight and low-cost testbed designed for rapid and efficient imaging of rugged seafloors, such as those containing coral reefs. The vehicle succeeded in following a rocky terrain at an altitude of approximately 2 m with a surge velocity of approximately 0.8 m/s. This paper also presents the results of sea trials conducted at Ishigaki Island in 2017, where the vehicle succeeded in surveying the irregular, coral-covered seafloor.

Research on GPS Positioning Error and Improvement Measures for Ships

2014 ◽  
Vol 556-562 ◽  
pp. 3309-3312
Author(s):  
Hao Ran Song
Keyword(s):  
Navigation System ◽  
Navigation Systems ◽  
Marine Transportation ◽  
Gps Positioning ◽  
Position Accuracy ◽  
Improvement Measures ◽  
Maritime Navigation ◽  
Overall Performance ◽  
Almost All ◽  
Source Of Error

Position technologies is the basis of maritime navigation system as a whole, almost all functions of the system are predicated on ship position accuracy. Position accuracy and timeliness is directly related to navigation systems practical value and overall performance, so locating the main source of error is the navigation system error. Insights into the causes of these errors, in marine transportation organizations, navigation safety and accident prevention has played a huge role.

scholarly journals ESTIMATION AND ANALYSIS OF USER IPP DELAYS USING BILINEAR MODEL FOR SATELLITE-BASED AUGMENTED NAVIGATION SYSTEMS

Aviation ◽  
2013 ◽  
Vol 17 (2) ◽  
pp. 65-69 ◽  
Author(s):  
D. Venkata Ratnam
Keyword(s):  
Linear Interpolation ◽  
Delay Estimation ◽  
Civil Aviation ◽  
Navigation Systems ◽  
Model Data ◽  
Positional Accuracy ◽  
Ionospheric Effect ◽  
Time Model ◽  
Interpolation Technique ◽  
Source Of Error

Several countries are involved in developing satellite-based augmentation systems (SBAS) for improving the positional accuracy of GPS. India is also developing one such system, popularly known as GPS-aided geo-augmented navigation (GAGAN), to cater to civil aviation applications. The ionospheric effect is the major source of error in GAGAN. An appropriate efficient and accurate ionospheric time model for GAGAN is necessary. To develop such a model, data from 17 GPS stations of the GAGAN network spread across India are used in modelling. The prominent model, known as bi-linear interpolation technique, is investigated for user IPP (UIPP) delay estimation. User IPP delays for quiet, moderate and disturbed days are estimated. It is evident that measured mean UIPP delays closely follow estimated mean UIPP delays.

Current concepts and applications of computer navigation in orthopedic trauma surgery

Open Medicine ◽  
2007 ◽  
Vol 2 (4) ◽  
pp. 392-403 ◽  
Author(s):  
D. Kendoff ◽  
M. Citak ◽  
T. Hüfner ◽  
S. Chaudhary ◽  
C. Krettek
Keyword(s):  
Trauma Surgery ◽  
Three Dimensional ◽  
Computer Navigation ◽  
Femoral Anteversion ◽  
Navigation Systems ◽  
Orthopedic Trauma ◽  
Camera System ◽  
Recent Developments ◽  
Orthopedic Trauma Surgery ◽  
Positive Results

AbstractNavigation has become widely integrated into regular endoprosthetic procedures, but clinical use of navigation systems in orthopaedic trauma has only been implemented in a few indications. Navigation systems enable an accuracy of 1 mm or 1 degree. Navigation can achieve higher precision when it is combined with different imaging modalities, including preoperative computer tomography (CT), intraoperative CT, two-dimensional fluoroscopy, and, recently, intraoperative three-dimensional fluoroscopy. The precision of the navigation system can be influenced by the surgeon as well as by the camera system, type of reference marker, and the registration process. Recent developments in orthopedic trauma navigation allow for bilateral femoral anteversion measurements, noninvasive registration of an uninjured thigh, and intraoperative three-dimensional fluoroscopy-based pedicle screw placement. Although the use of navigation has provided initial positive results in trauma care, prospective clinical studies remain to be performed.

A novel cost-effective computer-assisted imaging technology for accurate placement of thoracic pedicle screws

2011 ◽  
Vol 15 (5) ◽  
pp. 479-485 ◽  
Author(s):  
Yuichiro Abe ◽  
Manabu Ito ◽  
Kuniyoshi Abumi ◽  
Yoshihisa Kotani ◽  
Hideki Sudo ◽  
...  
Keyword(s):  
Preoperative Planning ◽  
Pedicle Screws ◽  
Entry Point ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Special Equipment ◽  
Operating Theater ◽  
Thoracic Pedicle Screws ◽  
Intraoperative Guidance ◽  
The Ideal

Object Use of computer-assisted spine surgery (CASS) technologies, such as navigation systems, to improve the accuracy of pedicle screw (PS) placement is increasingly popular. Despite of their benefits, previous CASS systems are too expensive to be ubiquitously employed, and more affordable and portable systems are desirable. The aim of this study was to introduce a novel and affordable computer-assisted technique that 3-dimensionally visualizes anatomical features of the pedicles and assists in PS insertion. The authors have termed this the 3D-visual guidance technique for inserting pedicle screws (3D-VG TIPS). Methods The 3D-VG technique for placing PSs requires only a consumer-class computer with an inexpensive 3D DICOM viewer; other special equipment is unnecessary. Preoperative CT data of the spine were collected for each patient using the 3D-VG TIPS. In this technique, the anatomical axis of each pedicle can be analyzed by volume-rendered 3D models, as with existing navigation systems, and both the ideal entry point and the trajectory of each PS can be visualized on the surface of 3D-rendered images. Intraoperative guidance slides are made from these images and displayed on a TV monitor in the operating room. The surgeon can insert PSs according to these guidance slides. The authors enrolled 30 patients with adolescent idiopathic scoliosis (AIS) who underwent posterior fusion with segmental screw fixation for validation of this technique. Results The novel technique allowed surgeons, from office or home, to evaluate the precise anatomy of each pedicle and the risks of screw misplacement, and to perform 3D preoperative planning for screw placement on their own computer. Looking at both 3D guidance images on a TV monitor and the bony structures of the posterior elements in each patient in the operating theater, surgeons were able to determine the best entry point for each PS with ease and confidence. Using the current technique, the screw malposition rate was 4.5% in the thoracic region in corrective surgery for AIS. Conclusions The authors found that 3D-VG TIPS worked on a consumer-class computer and easily visualized the ideal entry point and trajectory of PSs in any operating theater without costly special equipment. This new technique is suitable for preoperative planning and intraoperative guidance when performing reconstructive surgery with PSs.

16. Optimizing Neurosurgical Drill Placement using the Microsoft HoloLens

2018 ◽  
Author(s):  
Emily Rae
Keyword(s):  
3D Model ◽  
Ct Scans ◽  
Neurosurgical Procedures ◽  
Navigation Systems ◽  
Registration Accuracy ◽  
Acceptable Accuracy ◽  
Acceptable Range ◽  
Internal Bleeding ◽  
Microsoft Hololens

Purpose: Tracked navigation systems require large carts of equipment, specialized technicians, and are impractical in bedside neurosurgical procedures. For bedside procedures like an opening of the skull for removing pressure caused by internal bleeding, navigation could improve the accuracy of the drill placement. We use the Microsoft HoloLens to display a hologram floating in the patient’s head to mark a drilling location on the skull. The accuracy of this placement is assessed to determine the feasibility of using the HoloLens to mark a drilling location within a clinically acceptable range. Methods: A 3D model of the head is created from CT scans and imported to the HoloLens. The hologram is interactively registered to the patient and the drilling location is marked on the skull (Figure 1). 3DSlicer, Unity, and Visual Studio were used for implementing the software. The system was tested by 7 users. They each performed 6 registrations on phantoms with markers placed at 3 plausible drilling locations. Registration accuracy was determined by measuring the distance between the holographic and physical markers.  Results: Users placed 98% of the markers within the clinically acceptable range of 10 mm in an average time of 4:46 min.  Conclusion: It is feasible to mark a neurosurgical drilling location with clinically acceptable accuracy using the Microsoft HoloLens, within an acceptable length of time. This technology may also prove useful for procedures that require higher accuracy of location and drain trajectory such as the placement of external ventricular drains.

GPS Navstar: A Review

1979 ◽  
Vol 32 (3) ◽  
pp. 341-351 ◽  
Author(s):  
S. S. D. Jones
Keyword(s):  
Global Positioning System ◽  
United States Of America ◽  
The United States ◽  
Successful Implementation ◽  
Navigation Systems ◽  
General Introduction ◽  
Global Positioning ◽  
Potential Impact ◽  
The Impact ◽  
Physical Principles

The Global Positioning System, Navstar, is an advanced satellite-based navigation system which is currently under development and evaluation in the United States of America. Progress has been very fully reported in the open literature and a definitive paper on the concept has in fact been published in this Journal. The concept has now been experimentally validated and much of the evidence which supports this validation has in turn been published.The impact of Navstar on navigation in the period beyond 1985 is potentially very great indeed in that it offers, worldwide, a navigation capability to surface and aerospace users of a standard of accuracy combined with continuous availability which is currently associated only with short-range aids.This paper has the objective of presenting (a) a general introduction to the physical principles on which Navstar is based, followed by (b) a survey of its potential relevance to the operational needs of various classes of user. Finally there is some more speculative matter in the form of (c) a discussion of the potential impact of successful implementation of Navstar on current and projected future navigation systems.

scholarly journals Introduction: Intraoperative spinal imaging and navigation

2014 ◽  
Vol 36 (3) ◽  
pp. Introduction ◽  
Author(s):  
Doniel Drazin ◽  
Terrence T. Kim ◽  
David W. Polly ◽  
J. Patrick Johnson
Keyword(s):  
High Speed ◽  
Daily Basis ◽  
Navigation Systems ◽  
Camera Tracking ◽  
Operating Theater ◽  
Guided Surgery ◽  
Image Guided ◽  
Spinal Imaging ◽  
Stereotactic Navigation ◽  
Tracking Technology

Image-guided surgery (IGS) has been evolving since the early 1990s and is now used on a daily basis in the operating theater for spine surgery at many institutions. In the last 5 years, spinal IGS has greatly benefitted from important enhancements including portable intraoperative CT (iCT) coupled with high-speed computerized stereotactic navigation systems and optical-based camera tracking technology.

A novel 4 camera multi-stereo tracking system for application in surgical navigation systems

2020 ◽  
Vol 87 (7-8) ◽  
pp. 451-458
Author(s):  
Oliver Gieseler ◽  
Hubert Roth ◽  
Jürgen Wahrburg
Keyword(s):  
Operating Room ◽  
Surgical Navigation ◽  
Tracking System ◽  
Computer Assisted Surgery ◽  
Optical Tracking ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Camera Model ◽  
Camera System ◽  
Industrial Cameras

AbstractIn this paper, we present a novel 4 camera stereo system for application as optical tracking component in navigation systems in computer-assisted surgery. This shall replace a common stereo camera system in several applications. The objective is to provide a tracking component consisting of four single industrial cameras. The system can be built up flexibly in the operating room e. g. at the operating room lamp. The concept is characterized by independent, arbitrary camera mounting poses and demands easy on-site calibration procedures of the camera setup. Following a short introduction describing the environment, motivation and advantages of the new camera system, a simulation of the camera setup and arrangement is depicted in Section 2. From this, we gather important information and parameters for the hardware setup, which is described in Section 3. Section 4 includes the calibration of the cameras. Here, we illustrate the background of camera model and applied calibration procedures, a comparison of calibration results obtained with different calibration programs and a new concept for fast and easy extrinsic calibration.

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