Student: ChristophPetzinger?
Supervisor: Dipl.Inf. Martin Bauer?
Professor: Prof. Gudrun Klinker
Submission date: xx.xx.2004
Student Project (Systementwicklungsprojekt)
The goal of this project is to map (i.e. register) a geometric model of a medical instrument, in our case a pair of scissors onto a real instrument the is tracked using an external tracking system. This problem is also known as "hand-eye-coordination" in robotics.
The main focus lies on providing easy mechanisms to calculate this registration, which is in fact a simple coordinate system transform. In our special case we can use the fact that our instrument consists of two legs that can be moved in a special way due to the single joint in the middle. This point and the angle between the two legs define a plane and a point, which can be used to determine the location of the markers in the object coordiate system without manually measuring their position.
scissors with attached marker ![]() | The joint defines a point and a plane | Threedimensional model of scissors |
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Contact Main.Main.MartinBauer (martin.bauer@in.tum.de) for more information if you are interested.
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Title: | Augmented Reality Visualisation and Calibration of Medical Instruments |
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Director: | Gudrun Klinker |
Supervisor: | Martin Bauer |
Type: | SEP |
Status: | draft |
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