V-PITS : VIDEO BASED PHONOMICROSURGERY INSTRUMENT TRACKING SYSTEM

Abstract

V-PITS (Video Based Phonomicrosurgery Instrument Tracking System) is a system developed to estimate the trajectory of instruments performing a simulated phonomicrosurgery exercise. It first captures a synchronized pair of videos using a calibrated stereo camera rig. Next, it processes both videos with a tracking algorithm that is run off-line on each video twice, once for each instrument. The tracking algorithm detects a set of features in each frame related to instrument position and orientation. Finally, a trajectory estimation algorithm uses the feature data from both videos to estimate 3D trajectory. V-PITS consists of a data acquisition and algorithm component that are described in this document. The algorithm component is based on a position estimation methodology which is also described. Experiments are reported that characterize system noise and displacement measurement accuracy. Uncertainty in the position reported by V-PITS due to noise was characterized as +/- 0.073 mm. Displacement measurement accuracy was characterized as 0.15 mm RMS.