Pipeline Architecture and Parallel Computation-Based Real-Time Stereovision Tracking System for Surgical Navigation


Autoria(s): Zhou P (Zhou Ping); Liu Y (Liu Yue); Wang YT (Wang Yongtian)
Data(s)

2010

Resumo

This paper studies the development of a real-time stereovision system to track multiple infrared markers attached to a surgical instrument. Multiple stages of pipeline in field-programmable gate array (FPGA) are developed to recognize the targets in both left and right image planes and to give each target a unique label. The pipeline architecture includes a smoothing filter, an adaptive threshold module, a connected component labeling operation, and a centroid extraction process. A parallel distortion correction method is proposed and implemented in a dual-core DSP. A suitable kinematic model is established for the moving targets, and a novel set of parallel and interactive computation mechanisms is proposed to position and track the targets, which are carried out by a cross-computation method in a dual-core DSP. The proposed tracking system can track the 3-D coordinate, velocity, and acceleration of four infrared markers with a delay of 9.18 ms. Furthermore, it is capable of tracking a maximum of 110 infrared markers without frame dropping at a frame rate of 60 f/s. The accuracy of the proposed system can reach the scale of 0.37 mm RMS along the x- and y-directions and 0.45 mm RMS along the depth direction (the depth is from 0.8 to 0.45 m). The performance of the proposed system can meet the requirements of applications such as surgical navigation, which needs high real time and accuracy capability.

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国内

Identificador

http://ir.semi.ac.cn/handle/172111/11193

http://www.irgrid.ac.cn/handle/1471x/66186

Idioma(s)

英语

Fonte

Zhou P (Zhou Ping), Liu Y (Liu Yue), Wang YT (Wang Yongtian) .Pipeline Architecture and Parallel Computation-Based Real-Time Stereovision Tracking System for Surgical Navigation.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2010,59(5):1240-1250 Sp. Iss.

Palavras-Chave #光电子学 #Parallel processing #pipeline processing #real time systems #stereovision #tracking
Tipo

期刊论文