Optical tracking systems are widely adopted in surgical navigation. An optical tracking system is designed based on the principle of stereo vision with high-precision and low cost. This system uses optical infrared LEDs that are installed on the surgical instrument as markers and a near-infrared filter is added in front of the Bumblebee2 stereo camera lens to eliminate the interference of ambient light. The algorithm based on the region growing method is designed and used for the marker’s pixel coordinates’ extraction. In this algorithm, the singular points are eliminated and the gray centroid method is applied to solve the pixel coordinate of the marker’s center. Then, the marker’s matching algorithm is adopted and three-dimensional coordinates’ reconstruction is applied to derive the coordinates of the surgical instrument tip in the world coordinate system. In the simulation, the stability, accuracy, rotation tests, and the tracking angle and area range were carried out for a typical surgical instrument and the miniature surgical instrument. The simulation results show that the proposed optical tracking system has high accuracy and stability. It can meet the requirements of surgical navigation.
Purpose: Compare of the efficiency of 1470nm laser and 1470nm laser heat head for tissue cutting in vitro porcine kidney tissue . Method: We designed a laser heat head that convert laser energy into thermal energy by the absorbing materials. Fresh kidney tissue was harvested from a porcine and then placed on a turntable with constant speed . The same power of 1470nm laser and 1470nm laser heat head was used to cutting tissue, respectively .The cutting results and the range of thermal damage was compared after cutting . Result: Compared with 1470nm laser, 1470nm laser heat head's cutting traces is more smooth and the thermal damage area is very regular ,so it has smaller damage to deep tissue . Conclusion: The efficiency of laser heat head for tissue cutting was better. This study indicate that we might be able to make laser which the tissue have a low absorption coefficient about it to obtain good results for tissue cutting through the laser point heat source.