Purpose: Rigid-body markers are a common component of surgical tracking systems, but there is a limited number of commercially available, valid marker designs, presenting a limitation to researchers developing novel navigation systems. This work presents the development and validation of a large, open-source library of rigid-body markers for passive marker tracking systems. Methods: Ten groups of rigid-body tool designs were generated according to an algorithm based on intra- and inter-body design constraints. Validation studies were performed using a Polaris Vicra tracker (NDI) to compare the performance of each rigid body to a standard commercially available reference tool, including: tool-tip pivot calibration; measurement of fiducial registration error (FRE) on a computer-controlled bench; and measurement of target registration error (TRE) on a CT head phantom. Results: The resulting library of rigid-body markers includes 10 groups - one with 10 markers and nine with 6. Each group includes one tool geometrically equivalent to a common commercially available rigid body (NDI #8700339)1. Pivot tests showed tool-tip calibration ~0.4 mm, indistinguishable from the reference tool. FRE was ~0.15 mm, again meeting that of the reference. TRE measurements showed registration in a CT head phantom with error ~0.95 mm, equivalent to that of the reference. Conclusions: The library of custom tool designs perform equivalently to common, commercially available reference markers and present a multitude of distinct, simultaneously trackable rigid-body marker designs. The library is available as open source CAD files suitable to 3D printing by researchers in image-guided surgery and other applications.
Purpose: Dynamic reference frames (DRFs) are a common component of surgical tracking systems, but there is a limited number of commercially available, valid tool designs, presenting a limitation to researchers in image-guided surgery and other communities. This work presents the development and validation of a large, open-source library of DRFs for passive optical tracking systems. Methods: Ten groups of DRF designs were generated according to an algorithm based on intra- and inter-tool design constraints. Validation studies were performed using a Polaris Vicra tracker (NDI) to compare the performance of each DRF in group A to a standard commercially available reference tool, including: tool-tip pivot calibration and measurement of fiducial registration error (FRE) on a computercontrolled bench Results: The resulting library of DRFs includes 10 groups - one with 10 DRFs and nine with 6. Each group includes one tool geometrically equivalent to a common commercially available DRF (NDI #8700339). Fiducial registration error (FRE) was 0.15 ± 0.03 mm, indistinguishable from the reference. Conclusions: The library of custom DRF designs perform equivalently to common, commercially available reference DRFs and present a multitude of distinct, simultaneously-trackable DRF designs. The open-source library contains files suitable to 3D printing as well as tool definition files ready to download for research purposes.
Dynamic reference frames (DRFs) are a common component of modern surgical tracking systems; however, the limited number of commercially available DRFs poses a constraint in developing systems, especially for research and education. This work presents the design and validation of a large, open-source library of DRFs compatible with passive, single-face tracking systems, such as Polaris stereoscopic infrared trackers (NDI, Waterloo, Ontario). An algorithm was developed to create new DRF designs consistent with intra- and intertool design constraints and convert to computer-aided design (CAD) files suitable for three-dimensional printing. A library of 10 such groups, each with 6 to 10 DRFs, was produced and tracking performance was validated in comparison to a standard commercially available reference, including pivot calibration, fiducial registration error (FRE), and target registration error (TRE). Pivot tests showed calibration error (mean±std)=0.46±0.1 mm, indistinguishable from the reference. FRE was 0.15±0.03 mm, and TRE in a CT head phantom was 0.96±0.5 mm, both equivalent to the reference. The library of DRFs offers a useful resource for surgical navigation research and could be extended to other tracking systems and alternative design constraints.
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