Plus applications user manual  2.7.0.3de27e5
Software library for tracked ultrasound image acquisition, calibration, and processing.
Phantom registration algorithm

Phantom registration using landmarks

This algorithm computes transformation between a phantom object coordinate system (Phantom) and the coordinate system of tracking marker attached to the object (Reference) by point matching. Point coordinates are defined in the Phantom coordinate system and coordinates of the same points are also acquired in the Reference coordinate system by using a tracked stylus (StylusTip). To detect and select points in the Reference coordinate system the landmark detection algorithm can be used by detecting the stylus tip point when the tracked stylus is swiveling.

Configuration settings

Phantom registration using linear object features

This is an experimental algorithm that can use linear features (points, lines, and surfaces) to register a phantom to an attached tracker marker.

Configuration settings

Example configuration file PlusDeviceSet_fCal_Ultrasonix_L14-5_Ascension3DG_2.0.xml

<PlusConfiguration version="2.3">
<DataCollection StartupDelaySec="1.0" >
<DeviceSet
Name="fCal: Ultrasonix US (L14-5 probe) + Ascension3DG tracker (Probe, Reference, Stylus) - fCal Phantom 2.0"
Description="Ascension3DG sensors should be plugged in to the Ascension3DG DriveBay mounted on Ultrasonix US in the following order from to leftmost slot (Transducer 1) to the right: 1 Probe, 2 Reference, 3 Stylus." />
<Device
Id="TrackerDevice"
Type="Ascension3DG"
LocalTimeOffsetSec="0.0"
FilterAcWideNotch="1"
ToolReferenceFrame="Tracker" >
<DataSources>
<DataSource Type="Tool" Id="Probe" PortName="0" />
<DataSource Type="Tool" Id="Reference" PortName="1" />
<DataSource Type="Tool" Id="Stylus" PortName="2" />
</DataSources>
<OutputChannels>
<OutputChannel Id="TrackerStream" >
<DataSource Id="Probe"/>
<DataSource Id="Reference"/>
<DataSource Id="Stylus"/>
</OutputChannel>
</OutputChannels>
</Device>
<Device
Id="VideoDevice"
Type="SonixVideo"
AcquisitionRate="30"
LocalTimeOffsetSec="-0.2976"
IP="127.0.0.1"
AutoClipEnabled="TRUE" >
<DataSources>
<DataSource Type="Video" Id="Video" PortName="B" PortUsImageOrientation="UF" />
</DataSources>
<OutputChannels>
<OutputChannel Id="VideoStream" VideoDataSourceId="Video"/>
</OutputChannels>
</Device>
<Device
Id="TrackedVideoDevice"
Type="VirtualMixer" >
<InputChannels>
<InputChannel Id="TrackerStream" />
<InputChannel Id="VideoStream" />
</InputChannels>
<OutputChannels>
<OutputChannel Id="TrackedVideoStream"/>
</OutputChannels>
</Device>
</DataCollection>
<CoordinateDefinitions>
<Transform From="Image" To="TransducerOriginPixel"
Matrix="1 0 0 -410
0 1 0 5
0 0 1 0
0 0 0 1"
Date="2011.12.06 17:57:00" Error="0.0" />
</CoordinateDefinitions>
<Rendering WorldCoordinateFrame="Reference">
<DisplayableObject Type="Model" ObjectCoordinateFrame="TransducerOrigin" Id="ProbeModel"
File="Probe_L14-5_38.stl"
ModelToObjectTransform="
-1 0 0 29.7
0 -1 0 1.5
0 0 1 -14
0 0 0 1" />
<DisplayableObject Type="Model" ObjectCoordinateFrame="Reference" Id="Volume"/>
<DisplayableObject Type="Model" ObjectCoordinateFrame="StylusTip" Id="StylusModel" File="Stylus_Example.stl" />
<DisplayableObject Id="PhantomModel" Type="Model" ObjectCoordinateFrame="Phantom"
Opacity="0.6"
File="fCal_2.0.stl"
ModelToObjectTransform="
1 0 0 -35.0
0 1 0 -10.0
0 0 1 -5.0
0 0 0 1" />
<DisplayableObject Type="Image" ObjectCoordinateFrame="Image" Id="LiveImage"/>
</Rendering>
<Segmentation
ApproximateSpacingMmPerPixel="0.078"
MorphologicalOpeningCircleRadiusMm="0.27"
MorphologicalOpeningBarSizeMm="2.0"
ClipRectangleOrigin="27 27"
ClipRectangleSize="766 562"
MaxLinePairDistanceErrorPercent="10"
AngleToleranceDegrees="10"
MaxAngleDifferenceDegrees="10"
MinThetaDegrees="-70"
MaxThetaDegrees="70"
MaxLineShiftMm="10.0"
ThresholdImagePercent="10"
CollinearPointsMaxDistanceFromLineMm="0.6"
UseOriginalImageIntensityForDotIntensityScore="FALSE"
NumberOfMaximumFiducialPointCandidates="20"
/> <PhantomDefinition>
<Description
Name="fCAL"
Type="Multi-N"
Version="2.0"
WiringVersion="2.0"
Institution="Queen's University PerkLab"
/>
<Geometry>
<Pattern Type="NWire">
<Wire Name="7:G1_g1" EndPointFront="30.0 0.0 20.0" EndPointBack="30.0 40.0 20.0" />
<Wire Name="8:L1_h1" EndPointFront="55.0 0.0 20.0" EndPointBack="35.0 40.0 20.0" />
<Wire Name="9:M1_m1" EndPointFront="60.0 0.0 20.0" EndPointBack="60.0 40.0 20.0" />
</Pattern>
<Pattern Type="NWire">
<Wire Name="4:G3_g3" EndPointFront="30.0 0.0 10.0" EndPointBack="30.0 40.0 10.0" />
<Wire Name="5:H3_l3" EndPointFront="35.0 0.0 10.0" EndPointBack="55.0 40.0 10.0" />
<Wire Name="6:M3_m3" EndPointFront="60.0 0.0 10.0" EndPointBack="60.0 40.0 10.0" />
</Pattern>
<Pattern Type="NWire">
<Wire Name="1:H5_h5" EndPointFront="35.0 0.0 0.0" EndPointBack="35.0 40.0 0.0" />
<Wire Name="2:L5_i5" EndPointFront="55.0 0.0 0.0" EndPointBack="40.0 40.0 0.0" />
<Wire Name="3:M5_m5" EndPointFront="60.0 0.0 0.0" EndPointBack="60.0 40.0 0.0" />
</Pattern>
<Landmarks>
<Landmark Name="#1" Position="104.3 5.0 20.0" />
<Landmark Name="#2" Position="104.3 45.0 20.0" />
<Landmark Name="#3" Position="104.3 45.0 0.0" />
<Landmark Name="#4" Position="104.3 -5.0 0.0" />
<Landmark Name="#5" Position="-34.3 45.0 15.0" />
<Landmark Name="#6" Position="-34.3 -5.0 20.0" />
<Landmark Name="#7" Position="-34.3 -5.0 0.0" />
<Landmark Name="#8" Position="-34.3 45.0 0.0" />
</Landmarks>
<Planes>
<Plane Name="Superior" BasePoint="5.5 3.0 35.0" EndPoint1="135.0 3.0 35.0" EndPoint2="135.0 55.0 35.0" />
<Plane Name="Inferior" BasePoint="5.5 55.0 0.0" EndPoint1="135.0 55.0 0.0" EndPoint2="135.0 5.5 0.0" />
<Plane Name="Outside Unmarked" BasePoint="140.0 5.0 30.0" EndPoint1="140.0 50.0 30.0" EndPoint2="140.0 50.0 5.0" />
<Plane Name="Inside Unmarked" BasePoint="125.0 40.0 30.0" EndPoint1="125.0 20.0 10.0" EndPoint2="125.0 40.0 10.0" />
<Plane Name="Outside Marked" BasePoint="0.0 40.0 30.0" EndPoint1="0.0 40.0 5.5" EndPoint2="0.0 15.5 5.5" />
<Plane Name="Outside Posterior" BasePoint="130.0 0.0 30.0" EndPoint1="20.0 0.0 30.0" EndPoint2="20.0 0.0 15.0" />
<Plane Name="Inside Posterior" BasePoint="110.0 10.0 30.0" EndPoint1="40.0 10.0 30.0" EndPoint2="30.0 10.0 10.0" />
<Plane Name="Outside Anterior" BasePoint="130.0 60.0 30.0" EndPoint1="20.0 60.0 30.0" EndPoint2="20.0 60.0 5.0" />
</Planes>
<References>
<Reference Name="#1" Position="104.3 5.0 20.0" />
<Reference Name="#2" Position="104.3 45.0 20.0" />
<Reference Name="#3" Position="104.3 45.0 0.0" />
<Reference Name="#4" Position="104.3 -5.0 0.0" />
<Reference Name="#5" Position="-34.3 45.0 15.0" />
<Reference Name="#6" Position="-34.3 -5.0 20.0" />
<Reference Name="#7" Position="-34.3 -5.0 0.0" />
<Reference Name="#8" Position="-34.3 45.0 0.0" />
</References>
</Geometry>
</PhantomDefinition>
<VolumeReconstruction OutputSpacing="0.5 0.5 0.5"
ClipRectangleOrigin="0 0" ClipRectangleSize="820 616"
Interpolation="LINEAR" Optimization="FULL" CompoundingMode="MEAN" FillHoles="OFF" />
<fCal
PhantomModelId="PhantomModel"
ReconstructedVolumeId="Volume"
TransducerModelId="ProbeModel"
StylusModelId="StylusModel"
ImageDisplayableObjectId="LiveImage"
NumberOfCalibrationImagesToAcquire="200"
NumberOfValidationImagesToAcquire="100"
NumberOfStylusCalibrationPointsToAcquire="200"
RecordingIntervalMs="100"
MaxTimeSpentWithProcessingMs="70"
ImageCoordinateFrame="Image"
ProbeCoordinateFrame="Probe"
ReferenceCoordinateFrame="Reference"
TransducerOriginCoordinateFrame="TransducerOrigin"
TransducerOriginPixelCoordinateFrame="TransducerOriginPixel"
TemporalCalibrationDurationSec="10"
FixedChannelId="VideoStream"
FixedSourceId="Video"
MovingChannelId="TrackerStream"
MovingSourceId="ProbeToTracker"
DefaultSelectedChannelId="TrackedVideoStream"
FreeHandStartupDelaySec="5" />
<vtkPlusPivotCalibrationAlgo
ObjectMarkerCoordinateFrame="Stylus"
ReferenceCoordinateFrame="Reference"
ObjectPivotPointCoordinateFrame="StylusTip" />
<vtkPlusPhantomLandmarkRegistrationAlgo
PhantomCoordinateFrame="Phantom"
ReferenceCoordinateFrame="Reference"
StylusTipCoordinateFrame="StylusTip"
DetectionTimeSec="1.0"
StylusTipMaximumDisplacementThresholdMm="1.8" />
<vtkPlusProbeCalibrationAlgo
ImageCoordinateFrame="Image"
ProbeCoordinateFrame="Probe"
PhantomCoordinateFrame="Phantom"
ReferenceCoordinateFrame="Reference" />
</PlusConfiguration>