Recovery of Arthroscope Head Rotation From the Arthroscope Image

Abstract

An arthroscope consists of a shaft which is inserted into the patient and a camera head which can rotate about the shaft axis. In computer-assisted surgery that uses the tracked arthroscope, the angle of the camera head with respect to the arthroscope shaft must be known. This thesis investigates three methods which use computer vision techniques to recover the shaft rotation angle from the live arthroscope video feed. Five different trials were preformed using each method, and the computed angles were compared to a gold standard using a rotary magnetic encoder. The best method provided RSME of 1.7 degrees.