Calibration of Ultrasound and Tools

Demo 1: Pivot calibration for tracked tools (eg. stylus or needle) using SlicerIGT "Pivot Calibration" module

Objectives

  • Find the transformation between the tool tip and the coordinates of the tracking sensor attached to it.
  • This provides the location of the tool tip within the tracker coordinate system and allows integration of the tool in a VR/AR environment. Note that this process is only required if the tracked tool is NOT pre-calibrated.

Required equipment

  • Surgical tool with a tracking sensor attached or built in.
    • Eg. Magnetically tracked needle, stylus outfitted with an optical tracker etc.
  • Tracking system (optical or magnetic).
    • Eg. NDI Aurora magnetic tracking system and Polaris optical tracking system.


Where to find the module.
Find the source code for the module.

Figure 2: Accessing the pivot calibration module within the IGT extension.

How to use the module

Demo 2: SlicerIGT "US calibration" module

Objectives

  • Find the transformation between the ultrasound image and the coordinates of the tracking sensor attached to the ultrasound probe.
  • This enables placing the ultrasound image within the tracker coordinate system and integrating the image in a VR/AR environment.

Required equipment

  • A pre-calibrated surgical tool with a tracking sensor attached or built in
    • Eg. Magnetically tracked needle, stylus outfitted with a optical tracker etc.
  • Tracking system (optical or magnetic)
    • Eg. NDI Aurora magnetic tracking system and Polaris optical tracking system
  • Ultrasound system
    • Eg. SonixTouch by BK Medical

Required software and files

  • PlusServer launcher
  • Xml file

Where to find the module.
Find the source code on GitHub.

How to use the module