Robusna lokalizacija retro-reflektivnih markera pomoću stereo-vizijskog sustava

undergraduate thesis

• Title (english): Robust localization of retro-reflective markers using a stereo-vision system
• Author: Silvio Petrinjak
• Mentor: Marko Švaco (mentor)
• Mentor: Filip Šuligoj (komentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-09-28, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering

Abstract

Medicinska robotika revolucionirala je medicinsku praksu, pružajući preciznost i stabilnost u kirurškim zahvatima te smanjujući rizik od ljudskih pogrešaka. Buduće tehnološke inovacije te grane zahtijevaju sve veće iskorake u smjeru točnosti i pouzdanosti svakog dijela procedure kako bi se minimizirale nepravilnosti i pacijentima pružila najbolja moguća usluga. U sklopu ovog rada temeljito je testiran i optimiziran algoritam za robusnu lokalizaciju retro-reflektivnih markera pomoću stereo-vizijskog sustava korištenog tijekom pripreme za robotsku neuronavigaciju. Markeri se koriste za predoperativnu registraciju pacijenta u fizičkom prostoru. Kako bi se pokrili svi traženi scenariji, složen je laboratorijski postav u Laboratoriju za medicinsku robotiku Regionalnog centra izvrsnosti za robotske tehnologije gdje je kamera odvojena od robota te postavljena pred plastični fantom koji služi kao replika ljudske glave, antropomorfnog izgleda i slične refleksije svjetlosti kao ljudska koža. Aplikacija je sistematično testirana snimanjem svih pozicija u kojima se može zateći iz udaljenosti prema kuglicama na kojoj se i do sada koristila. Kalibracijom korištenih kamera postignuta je provjerena ispravnost prikazane slike na temelju koje se napredniji algoritam prilagodljive segmentacije traženih struktura na slici pokazao kao konkretan iskorak prema efikasnijem pronalasku pozicija traženih markera. Aplikacija je razvijena programskim jezikom C++ uz pomoć OpenCV knjižnice računalnog vida.

Abstract (english)

Medical robotics have revolutionized medical practice, providing precision and stability in surgical procedures and reducing the risk of human error. Future technological innovations of this branch require ever-greater strides in the direction of accuracy and reliability of every part of the procedure in order to minimize irregularities and provide the best possible service to patients. As part of this work, an algorithm for robust localization of retro-reflective markers using a stereo-vision system used during the preparation for robotic neuronavigation was thoroughly tested and optimized. Markers are used for preoperative registration of the patient in physical space. In order to cover all required scenarios, a laboratory setup was set up in the Medical Robotics Laboratory of the Regional Center of Excellence for Robotic Technologies, where the camera is separated from the robot and placed in front of a plastic phantom that serves as a replica of a human head, with an anthropomorphic appearance and similar light reflection to human skin. The application underwent systematic testing, examining its functionality across all possible positions in relation to the spheres, consistent with previous usage. By calibrating the used camera, the correctness of the displayed image was verified, based on which the more advanced algorithm of adaptive segmentation of the required structures in the image proved to be an obvious step towards more efficient localization of the positions of required markers. The application was developed in the C++ programming language with the help of the OpenCV computer vision library.

• Keywords: medicinska robotika; računalni vid; C++; OpenCV; RONNA
• Keywords (english): medical robotics; computer vision; C++; OpenCV; RONNA
• Language: croatian
• URN:NBN: urn:nbn:hr:235:405242
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-09-23 15:57:11