Figures & data
Figure 1. Different coordinate systems in the proposed navigation system. (M: marker; C: camera (endoscope); E: optically trackable marker shield attached to the endoscope; O: Optotrak.)
Figure 2. Endoscope fitted with optoelectronically trackable marker shield. The marker is also fitted with a marker shield and its four corners and the center are registered for optoelectronic tracking.
Figure 3. Position(a) and rotational error (b) (vertical axis) in full-field mode for a 2-cm marker at various distances from the endoscope tip. Orientation of the marker's Z-axis to the optical axis is represented on the horizontal axis.
Figure 4. Position(a) and rotational error(b) (vertical axis) in half-field mode for a 2-cm marker at various distances from the endoscope tip. Orientation of the marker's Z-axis to the optical axis is represented on the horizontal axis.
