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TU 1 - Imaging and Sight Technique in medecine

The TU Imaging and Sight Technique in medecine is divided in two parts :

Installation estimation and 3D repositioning

The Installation estimation shows the methods which allowed the user to estimate position and orientation of an object known thanks to one or several medical images. The switchover from real to projection of images principles are firstly exposed. This class shows imagers calibration methods and installation estimation digital and analytical methods. The spread of errors which allow to estimate estimations accuracy are particularly stressed. Th case of the reconstruction of the form of unknown objects is mentioned too.

The objective of the 3D repositioning class is to give the keys needed to ascertain the position and the orientation of a medical instrument in relation to a predefined position to fulfil a movement. This class shows the choice of markers to be used and the choice of potential sensors to be added to solve an issue as well as methods allowing to screen the markers position in relation to instruments. In the case of robot's assisted surgery, dynamics repositioning and control methods allowing to put intruments in their final position are studied as well. Techniques which are exposed in these two courses are put into practice by the solving of simple repositioning issues thanks to cameras. The entire assessment is tested : sensors calibration, choice and positioning of the sensors, installation estimation. In order to give difficulties overview, the likely evaluation of assessment errors is compared to unlikely direct measures in medical applications.

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