Multiple optical system for matching coordinate system of neurosurgical robot

Abstract

In this paper we propose multiple optic sensor system and an algorithm matching coordinate systems for neurosurgery robot utilizing O-arm or C-arm fluoroscopy. By a specific device we make the optical axis of X-ray fluoroscopy and optical sensor identical. This makes it capable of achieving simultaneously X-ray vision and camera vision of the same area without any other algorithmic mapping. This can be used to make augmented vision to show x-ray vision to surgeons while surgery. Also because of the characteristic of neurosurgery the measurement area is relatively small and the accuracy should be within small numbers of micrometers. For accurate measurement of coordinate systems we use IR light and retro-reflective marker spheres. We get a pair of stereo images from the sensor system and calculate the three-dimensional coordinates and pose of the markers.