Professional Documents
Culture Documents
AR in the
Hybrid Opera6ng Room
Fernando Barrera
ICube, University of Strasbourg, CNRS, IHU Strasbourg, France
Loy Rodas and Padoy, 3D Global Es(ma(on and Augmented Reality Visualiza(on of Intra-opera(ve X-ray Dose, MICCAI 2014
Mobile AR in the OR
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[1] Loy Rodas and Padoy, 3D Global Es(ma(on and Augmented Reality Visualiza(on of Intra-opera(ve X-ray Dose, MICCAI 2014
Related work
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2 RGBD cameras rigidly mounted to the ceiling and 1 RGBD camera xed to a
registered to a room global coordinate system hand-held screen
Method
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Template genera6on
Not possible using a single camera: ambigui1es when equipment and camera move
Part-based detec6on
Limita1ons:
Radia1on maps not computed in real-1me & pa1ent not tracked
Tracking accuracy aected by errors from:
Mul1-camera system calibra1on
Quality of depth map from RGBD cameras (Asus X1on Pro)
Quality of the equipment detec1on
Perspec1ves
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Acknowledgments
hop://camma.u-strasbg.fr
Preliminary quan1ta1ve evalua1on
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X-ray device
0 90 180 270 Mean std
orienta6on
ICP error (mm) 210.9 81.0 222.8 79.8 162.7 51.8 234.9 91.7 207.8 76.0
Rx error 5.1 2.5 3.6 2.7 3.9 1.4 5.3 3.3 4.4 2.4
Ry error 5.1 2.2 10.1 2.0 4.4 1.2 6.7 2.8 6.5 2.0
Rz error 3.4 1.4 9.2 0.5 5.3 1.3 4.2 1.0 5.6 2.5
Mean R error 4.5 1.8 7.6 1.6 4.5 1.0 5.4 2.2 5.5 1.6
T error (mm) 88.2 51.5 103.8 59.2 119.2 25.1 97.8 42.8 100.2 44.6
Moving camera tracking error
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Calibra6on with
Simula6on of Radia6on Propaga6on (Geant4) test dosimeters
X-ray tube: source of photons with energies sampled from
simulated spectrum