Robustness and accuracy evaluation of a multicamera tracking system

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dc.contributor.advisor Marinetto Carrillo, Eugenio Daniel García Ruiz, Alonso 2018-03-23T16:23:19Z 2018-03-23T16:23:19Z 2014-09 2014-09-30
dc.description.abstract Intra-Operative Electron Radiation Therapy (IOERT) consists on radiating the post-resected tumour bed or the unresected tumour during a surgery. This therapy is planned with the software radiance, developed from a collaborative work between Universidad Carlos III de Madrid (UC3M) and GMV (Madrid, Spain). The recently added tracking system (OptiTrack, NaturalPoint Inc., USA) allows for navigation and thus helps the clinician to follow the planning ([1]). In order to study the dependence and the magnitude of the positioning error obtained with this tracking system, this project aims at comparing the positions given by the aforementioned camera system with those of an industrial robot that will act as a gold standard. To achieve this, a Matlab client was developed to control the OptiTrack system by means of the Application Programming Interface provided and communicates with a RAPID robot server through a TCP/IP protocol, sending the positions and ordering the movements. A specific trajectory was designed in RobotStudio in order to cover the working volume in an operating room. The results show the magnitude of the error of OptiTrack system and its spatial dependence, as well as the effect of different numbers of occluded cameras, different tracked tools and different calibration qualities. This study will improve the new IOERT navigator using OptiTrack at HGGM by means of providing tracking error estimation during the procedure.
dc.format.mimetype application/pdf
dc.language.iso spa
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.subject.other Image-Guided Surgery (IGS)
dc.subject.other Radiation cancer
dc.subject.other OptiTrack
dc.subject.other Intra-Operative Radiation Therapy (IORT)
dc.subject.other Biomedical Engineering
dc.title Robustness and accuracy evaluation of a multicamera tracking system
dc.type bachelorThesis
dc.subject.eciencia Biología y Biomedicina
dc.rights.accessRights openAccess Ingeniería Biomédica
dc.contributor.departamento Universidad Carlos III de Madrid. Departamento de Bioingeniería e Ingeniería Aeroespacial
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