Choosing a depth camera for registering & tracking a patient - Medical Robotics
Hello,
I'm searching suitable RealSense depth camera models for patient registration and surface tracking in surgical navigation. The camera will be fixed on an movable cart, positioned 0.5 to 1.5 meters from the patient in a well-lit laboratory. The camera is fixed ~ 2 meters above the ground, ensuring that the patient lies within its FoV.
My goal is to capture a 3D surface point cloud of thorax and abdomen phantoms at a relatively high accuracy. Highest accuracy is not yet required at this stage of the study.
I am considering using either the D435 or the D415 model, but I'm uncertain which would be more suitable for this application. Additionally, I'm unsure whether an IMU and/or an IR pass filter would be necessary.
In test scenarios, the camera is adjusted linearly or by a small angle to optimize the FoV.
Could you recommend specific RealSense depth camera models that would be well-suited for this application?
Thank you for your time and expertise!
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Hi Arthur Levisalles10 The D415 camera model would be an appropriate choice for this application. It has around 2x better image quality and 2x less depth error over distance than D435 and can be used at 0.5 m minimum distance from the patient. D415 is also well suited to scanning non-moving surfaces, such as a patient.
AN IMU would not be needed for this application, and an IR pass filter should also be unnecessary indoors under artificial lighting in a scene that is well-lit at a consistent lighting level.
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Thank you MartyG.
The D415 sounds like a great fit.
Do you know if it can also be used to track points at the surface of the patient?
Thanks again for your help!
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You could certainly generate a pointcloud of the surface of the patient and read coordinates from those points. You can also measure distance between two or more points on the pointcloud.
If you wanted to track the movement of coordinates, for example as the camera was moved on a tray, then that would be more complicated. The discussion about movement tracking at the link below states that the camera should be able to follow an area of the image that is 9 pixels or larger.
https://github.com/IntelRealSense/librealsense/issues/4175
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I see, thank you again MartyG.
Just to be clear, when I mentioned "tracking points at the surface," I was referring to cases such as monitoring respiratory motion with the camera being fixed, not one mounted on a moving tray.
Does that change anything to your response?
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Great, thank you very much MartyG !
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