[IGSTK-Developers] Does IGSTK need any calibration components?

[David Gobbi]

I'm glad to see that your pivot calibration is a closed-form solution.
The tip calibration method that I used before was a brute-force RMS
minimization method and wasn't very elegant. Using VNL should be fine, I
think. Just remember that, in the end, it has to produce an igstkTransform.


Hui Zhang wrote:

> Hi, David,
>
> That pivot calibration class takes the inputs from the tracker,
> (translation and orientation), as many samples as the user wants, and
> then calculates the 3D translation from the sensor/marker to pointer's
> tip. And also it will return the RMS error in the computation. I used
> it for tracked needle calibration, which has only one offset along
> z-axis, but I can extend it to 3D translation for optical and other
> trackers by adding two more variabels.
>
> The ultrasound calibration class is a general 2D/3D imaging to tracker
> calibration. The inputs are:
> 1. the point index in 2D/3D imaging space;
> 2. the concurrent reading from 6DOF tracker;
> 3. the point coordinate in the tracking space;
> It will need at least 3 or more frames to compute the matrix.
>
> One question is, these two classes use Vnl functions through ITK, so
> will it affect the current IGSTK structure? It uses vnl to perform
> some matrix operations.
>
> The mathematic part is in our EMBS and SPIE papers, and we use the
> simple matrix operations. I can attach it if IGSTK needs.
>
> If the requirement and the mathematica part are approved, I can try to
> begin put it into sandbox.
>
> Regards
> James
>
> ----- Original Message ----- From: "David Gobbi" <dgobbi at atamai.com>
> To: "Hui Zhang" <zhang at isis.imac.georgetown.edu>
> Cc: "'IGSTK-developers'" <igstk-developers at public.kitware.com>
> Sent: Wednesday, November 16, 2005 12:09 PM
> Subject: Re: [IGSTK-Developers] Does IGSTK need any calibration
> components?
>
>
>> Hi James,
>>
>> Yes, IGSTK will need a pointer calibration component, so if you can
>> supply one then that would be great. Also, any description of the method
>> would be useful - it is very important that all of the mathematical
>> algorithms used by IGSTK are well documented.
>>
>> For ultrasound, we will probably want to wait until we have a video
>> acquisition class for IGSTK. The crossed-wire method is a good
>> calibration method to support. There are tons of different ultrasound
>> calibration methods, but the crossed-wire method is as accurate as any
>> of the others, and the phantom is easy to construct.
>>
>> - David
>>
>> Hui Zhang wrote:
>>
>>> Hi, all,
>>>
>>> Does IGSTK need any calibration components, like track tool
>>> calibration and ultrasound probe calibration?
>>>
>>> One important part of current IGSTK is the tracker component. When we
>>> use tracker tools, those tools must be calibrated using pivot method
>>> to calculate the transform from sensor/marker to the hot point (tip or
>>> something else). Normally this step is done by using the software from
>>> the company like NDI ... But sometime it is important to have the
>>> ability to do the on-site calibration. As I know, one of Philips
>>> software integrates this function in their navigation system. We have
>>> developed one class here to calculate the transform through those
>>> pivot samples. If IGSTK needs this component, I can try to contribute
>>> this part and make it state machine -able.
>>>
>>> Another component we have here is the point-based ultrasound probe
>>> calibration class, which can handle the freehand ultrasound
>>> calibration by using the pointer or some phantoms like cross-wire
>>> phantom. This calibration component is essential to integrate
>>> ultrasound ability to image guided system. It can be extented to
>>> calibrate the general imaging device to trackers.
>>>
>>> Regards,
>>>
>>> ---------------------------------------------------------------------------------------------
>>>
>>>
>>> Hui (James) Zhang, Ph.D.
>>>
>>> Imaging Science and Information Systems (ISIS) Center
>>> Department of Radiology
>>> Georgetown University Medical Center
>>> 2115 Wisconsin Avenue, Suite 603
>>> Washington, DC, 20007
>>>
>>> Work phone: 202-687-2902
>>> Work fax: 202-784-3479
>>> Cell phone: 240-476-9361
>>> MSN: zh_skyfox at hotmail.com
>>> ----------------------------------------------------------------------------------------------
>>>
>>>
>>>
>>>
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>>>
>>
>>
>
>
>