Micron Tracker双目视觉导航仪 clarontech 加拿大 Claron Technology Inc科技有限公司
MicronTracker uses stereoscopic vision in real time to detect and track specially-marked objects. MicronTracker can be used in a variety of clinical guided procedures including image-guided surgery, ablation, and biopsy, performed manually or using robotics. MicronTracker also supports augmented reality, which provides an intuitive approach for handling clinical procedures.
MicronTracker leads a new generation of trackers that use visible light and computer vision to detect fully passive marked targets and track them by processing standard video images.
We Surpass the Competition
MicronTracker has significant clinical and cost benefits over the competition:
Easy setup and tear down. Unlike competitive systems that require stocking, mounting and unmounting of single-use components or batteries for each tool being tracked, MicronTracker uses permanent steam sterilizable tool markers, making all tools always immediately ready for n***igation.
MicronTacker uses the ***allest and lightest cameras in its class and can be easily positioned even where space is at a premium. Because of its extra light weight no massive supporting arms or tripods are needed. Camera positioning is faster since, being ***aller, lighter and insensitive to IR reflecti***, the camera can be positioned just above the field, where lines of sight are easily maintained throughout the operation. MicronTracker's visible light video images show the user exactly where the visibility boundaries are.
Low purchase and operating cost. MicronTracker's attractive cost is achieved by simple design and reliance on standard ha***are components (no custom electronics). All s***ings are passed on to the users. With MicronTracker there are no additional costs for disposables. DuraMarks markers are sterializable and can be used at least 100 times.
Software that makes it easy to build a complete system. The versatile MicronTracker software provides rich and flexible APIs, compliant with Windows, Linux and Mac OSX. MicronTracker integrates easily with the IGS SDK for quick and efficient development of image-guided n***igation systems. The demo application included in the product, ***ailable in source code, provides an excellent starting point for booting up new application development.
MicronTracker Benefits
MicronTracker incorporates a set of features designed to meet the needs of both clinical and research clients.
Solid specs
MicronTracker features class-leading calibration accuracy of 0.2mm RMS. Its advanced drift compensation algorithms keep it accurate in a wide range of ambient conditi***. Internal checks provide alerts in the rare instances when conditi*** may cause degradation in accuracy.
Superior pinpointing reliability
Competing pose trackers use bright infrared spots to mark target locati***. In these systems, target centers are pinpointed by computing the intensity of the centroid of the image produced by the spot. A ***udge or a partial occlusion can affect the position of the centroid, leading to significant measurement errors. This condition is not detected and the user is not alerted.
MicronTracker computes target locati*** at the intersection of 4 high-contrast regi***, called an Xpoint. Each of the four black/white boundary lines independently serves to pinpoint the location of the target. Porti*** of the Xpoint region hidden by ***udges or occlusi*** are disregarded and h***e no effect on accuracy.
Validate and refine accuracy in the field
The MicronTracker camera is designed to solidly preserve the highly accurate optical calibration performed at the factory. As with all high-precision opto-mechanical instruments, its accuracy may degrade in the field as a result of minute changes caused by environmental stresses or rough handling.
Otherposition trackers on the market require customers to purchase expensive equipment to verify accuracy over time. When accuracy is found to fall short of specificati***, the camera must be sent back to the factory for repair or recalibration. MicronTracker’s R-Fine kit (custom-made accuracy bar and software) allows users to verify and immediately restore the accuracy of the device. R-Fine is provided free of charge in every MicronTracker kit.
The R-Fine software contains a model of typical physical changes occurring in the mechanical structure of the camera. During the calibration procedure the model is adjusted to best match the data collected. The adjusted model is then used to refine the calibration of the cause the R-Fine calibration procedure takes only a few minutes, it is possible to validate the accuracy of performance as often as necessary.
Unique visual calibration verification
The spatial relati***hip between markers and any object location (such as a tool tip) can be visually presented to the user to enable dynamic visual comparison. For example, after calibrating the relati***hip between a tool marker and the position and orientation of the tooltip, measurement of the tooltip pose can be overlaid on itsexpected image location, allowing the user to easily detect errors and inaccuracies.
High dynamic range mode
High dynamic range (HDR) mode is a technique that allows solid detection in situati*** of great illumination range. This feature enables MicronTracker to work reliably under a wide range of intensity levels found in operating rooms. For example the H3-60 model covers a 5-400,000Lux range.
The ***allest, lightest camera
MicronTracker is by far the ***allest and lightest, camera in its class. It measures 164 x 43 x 54 mm and weights only 342 gr. It fits unobtrusively into cluttered environments where space is scarce. It does not require large supporting arms or tripods, and can even be mounted directly onto the patient holder/table, eliminating the need for a separate reference marker. It is less likely to be 
accidentally bumped into during an operation or experiment. MicronTracker is easy to move, store, and ship.
Easiest to position correctly
Initial positioning of the camera in a way that eliminates the need for repeated repositioning can be a major challenge for other pose trackers. MicronTracker’s FOM starts only 20cm in front of the camera. The camera can be placed right in front of the volume to be measured, eliminating the difficulty of estimating imaginary boundaries 1-2 meters away. Even more important, MicronTracker provides visible light video images, showing the user exactly what the camera sees and where the visibility boundaries are. If tracking of an instrument is lost, no guessing is necessary: a quick peek at the images is all it takes.
Superior identification reliability allows MicronTracker to distinguish among markers that are only slightly different from each other. MicronTracker’s unlimited marker templates database allows it to distinguish between hundreds of different instruments. Even more important, the database may be updated at run-time, allowing new marker templates to be added simply by presenting them to the camera and assigning a name to them. Highly efficient algorithms and a fast in-memory interface to the application allow MicronTracker to track dozens of markers concurrently at full frame rates.
Bright spots in an image contain no geometric information other than the location of their centers. By contrast, Xpoints h***e both a location and an orientation. This additional discriminating characteristic greatly reduces erroneous mi***atches between targets seen on left and right images. It also reduces markermisidentification, where identification is carried out by matching the characteristics of the observed targets against templates. Misleading bright reflection spots are more common in an operating environment than Xpoints are, so that the use of Xpoints greatly reduces the risk of misidentification.
Enlarging the FOM with MicronTracker is simple: you can add more cameras. Multiple cameras can be added easily while maintaining complete software compatibility with a single camera configuration. Registering the individual FOMs together is as simple as placing a single marker in the region where they overlap.
Reduced line of sight interrupti***
With their ***all size and close FOM, the positioning of MicronTracker cameras reduces the incidence of interference by people or objects in the line of sight to the markers. Moreover, the ***all camera size, low cost, and excellent software support make multi-camera configurati*** both practical and affordable. By overlapping the FOMs of different cameras, tracking continues even when targets are hidden from one of the cameras Multi-facet marker.
Markers may contain an arbitrary number of facets. Designing a marker with more than one facet, in different orientati***, increases the detection angle.
The MicronTracker programming interface provides over 500 well-documented functi*** compliant with Windows, Linux, and Mac OSX. This places tracking operati*** under the full control of the application programmer. Low-level data, such as images and the objects identified in them, may be accessed directly, and various attributes of the tracking operation can be adjusted.
The “native” API is provided in C, but it is objectoriented and can be easily accessed from high-level languages such as C++, Vb.Net, or C#.Net, and Visual Basic 6 through ***ailable wrappers. Dem***tration applicati*** in source code format and a developer’s manual are ***ailable to your programmers to help them quickly integrate MicronTracker into your product.
To cut product development time even further, you can use Claron’s WIF software engine that supports all visualization, segmentation, and registration needs. Alternatively, you can use ClaroN***, Claron’s ready-to-use n***igation system that can be customizedto support the required look and feel.
Periodic software updates bring new system capabilities to developers.