Tracker to C-arm System Calibration

Overview

Calibration between C-arm's X-ray source and the visual tracker that is attached to the C-arm. The calibration process has 2 steps in total.

Step 1

Calibration between X-ray source and the marker that is attached to the C-arm. After this step, we can get the X-ray source's pose in NDI tracker's coordinate frame.

Step 2

Hand-Eye calibration between X-ray-source and HoloLens.

Prerequisites

• Python 3
• Matlab
• Jupyter Notebook
• OpenCV
• Numpy
• Scipy
• Matplotlib

This code was tested on Windows 10.

Getting Started

1. Run the jupyter notebook file System_Calibration.ipynb and follow the instructions.
2. Run the Matlab script HandEyeCalibration.m.

Citation

If you use this code for your research, please cite our paper Development and Pre-Clinical Analysis of Spatiotemporal-Aware Augmented Reality in Orthopedic Interventions:

@ARTICLE{9252943,
  author={Fotouhi, Javad and Mehrfard, Arian and Song, Tianyu and Johnson, Alex and Osgood, Greg and Unberath, Mathias and Armand, Mehran and Navab, Nassir},
  journal={IEEE Transactions on Medical Imaging}, 
  title={Development and Pre-Clinical Analysis of Spatiotemporal-Aware Augmented Reality in Orthopedic Interventions}, 
  year={2021},
  volume={40},
  number={2},
  pages={765-778},
  doi={10.1109/TMI.2020.3037013}}

Interactive Flying Frustums (IFFs): spatially aware surgical data visualization:

@article{fotouhi2019interactive,
  title={Interactive Flying Frustums (IFFs): spatially aware surgical data visualization},
  author={Fotouhi, Javad and Unberath, Mathias and Song, Tianyu and Gu, Wenhao and Johnson, Alex and Osgood, Greg and Armand, Mehran and Navab, Nassir},
  journal={International journal of computer assisted radiology and surgery},
  volume={14},
  number={6},
  pages={913--922},
  year={2019},
  publisher={Springer}
}

and Co-localized augmented human and X-ray observers in collaborative surgical ecosystem:

@article{fotouhi2019co,
  title={Co-localized augmented human and X-ray observers in collaborative surgical ecosystem},
  author={Fotouhi, Javad and Unberath, Mathias and Song, Tianyu and Hajek, Jonas and Lee, Sing Chun and Bier, Bastian and Maier, Andreas and Osgood, Greg and Armand, Mehran and Navab, Nassir},
  journal={International journal of computer assisted radiology and surgery},
  volume={14},
  number={9},
  pages={1553--1563},
  year={2019},
  publisher={Springer}
}