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Étude et réalisation d'un système de localisation en six dimensions pour la chirurgie assistée par ordinateur

Fabrice Chassat 1
1 TIMC-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur
TIMC - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
Abstract : Most of Computer Assisted Surgery (C.A.S.) need a six-dimensional localizer. Those systems can locate and follow in space, position and orientation of rigid bodies constituted of markers. A lot of localizers have already been used in surgery but few of them are specifically dedicated for medical applications and the answers they propose to constraints of surgery is not completely adapted. We present in this thesis an original approach to localisation. Based on a study of surgical applications using a localizer, we have defined qualitative (cumbersome, weight, shape etc...) and quantitative criteria in particular accuracy. We have indeed proposed a generic accuracy evaluation protocol for localizer in surgery. An evolution to most often used localizer (optical systems) is proposed to adapt them totally to those criteria. In particular, it appears that cost, accuracy and global ergonomics of existing system are insufficient for high demanding applications, even if they are enough for most of them. We have studied and detailed in this thesis two prototypes that allow to answer to problems posed by cost, accuracy and especially ergonomics. From a passive stereovision hard-ware which locate punctual markers, we propose an original evolution based on the localisation of linear markers which are identified by Thalès equation, which improve the global visibility. Finally, we propose two very innovating concepts of localisation which answer to the major drawback of optical system, which must have the line of sight between cameras and marker, free of all obstacles.
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Contributor : Fabrice Chassat <>
Submitted on : Tuesday, March 9, 2004 - 7:48:45 PM
Last modification on : Tuesday, November 24, 2020 - 4:18:04 PM
Long-term archiving on: : Wednesday, September 12, 2012 - 2:05:17 PM


  • HAL Id : tel-00005276, version 1



Fabrice Chassat. Étude et réalisation d'un système de localisation en six dimensions pour la chirurgie assistée par ordinateur. Autre [q-bio.OT]. Université Joseph-Fourier - Grenoble I, 2001. Français. ⟨tel-00005276⟩



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