Advanced Hybrid Tracking and Navigation for Computer-Assisted Interventions
Tobias Reichl · 2013
In image-guided interventions, accurate knowledge about spatial relations is essential. We present several new concepts for advanced hybrid tracking systems: first, mathematical modelling of an instrument's flexible parts, amplified by computer vision methods; then, hybrid image-based and electromagnetic (EM) tracking with a a continuous output model; finally, a new tracking paradigm, by robotically keeping the EM tracking sensor always close to the centre of the tracking volume.