Endonasal Neuronavigation Prototype
Endonasal Neuronavigation Prototype
Embedded Files
Objective
Objective
Develop an endonasal neuronavigation prototype for medical robotics by a mechatronic design approach, displaying, into a virtual environment, the pose estimation of the tool's distal end.
Develop an endonasal neuronavigation prototype for medical robotics by a mechatronic design approach, displaying, into a virtual environment, the pose estimation of the tool's distal end.
Technical Details
Technical Details
Frame
Frame
Dimensions: 800 x 500 x 400 mm
Head Support:
5-DOF clamping mechanism
Manufacturing by FDM.
Tool Pose Estimation
Tool Pose Estimation
Detection space: 500 x 400 x 400 mm
2-infrared camera arrangement
2 reflective marker spheres: 1 on the tool, 1 on the skull model.
Landmark detection by colour image segmentation
IMU data processing by Kalman filter
3-D skull modell
3-D skull modell
3-D reconstruction from a 245-image CT stack.
Thresholding by Hounsfield scale
Mesh processing by Laplacian smoothing
Manufacturing by FDM (3-D printing)
Interface
Interface
Real-time animation (100 ms time response)
Virtual environment visualization
Cameras calibration
Software
Software
Programming: Python 3.8, OpenCV, Blender 2.8
Operative System: Ubuntu 18.04
Results
Results
Mechatronic Design Process
Mechatronic Design Process
The design process is adaptable, and scalable to several products, with multidisciplinary technical characteristics and complexity, where each subsystem can be considered as an independent mechatronic product.
Head Support - Mechanical Design
Head Support - Mechanical Design
This 5-DOF Head support is a low-cost alternative, which groups the dimensional and functional characteristics of a commercial one, simulated by FEA analysis and tested with a 2kg-skull model.
Skull 3D Reconstruction
Skull 3D Reconstruction
The process for the 3-Dimensional reconstruction of the skull model presents an efficient, open-source, and accessible proposal for bone reconstruction from a CT image stack.
Tool Pose Estimation
Tool Pose Estimation
The Landmarks detection algorithm defined a color-based segmentation process for frames captured by infrared camera arrangement, showing zero error in frame-to-frame analysis.
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