Tracking Systems
OptiTrack Duo optical tracking system (dual-camera): enables to position tools containing retroreflective markers (spheres/disks). It provides transformation matrix containing the position and the rotation of the tool.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11102653/OptiTrack.png)
NDI Polaris Spectra optical tracking system (dual-camera): enables to position tools containing retroreflective markers (spheres/disks). It provides transformation matrix containing the position and the rotation of the tool.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11102653/NDIPolaris.png)
OptiTrack Flex 13 infrared camera (x8) – optical tracking system (multi-camera): enables to position tools containing retroreflective markers (spheres/disks). It provides transformation matrix containing the position and the rotation of the tool.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11102654/OptiTrackFlex.png)
NDI Trakstar electromagnetic tracking system: enables to position tools with wired electromagnetic sensor attached to it. It provides transformation matrix containing the position and the rotation of the tool.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11103710/NDITrackStar.png)
Phidget Spatial inertial sensor (x2): contains gyroscope, accelerometer and magnetometer. Enables the estimation of the rotation of an object. It provides transformation matrix containing the rotation of the tool.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11102655/Phidget.jpg)
Aruco marker tracking using web cam: enables tracking of Aruco markers using a video camera. The transformation matrix containing the position and the rotation of the Aruco markers can be obtained.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11102651/ArucoMarker.png)
Video devices
Intel RealSense RGB-D camera: uses stereo vision to calculate depth. The D415 is a USB-powered depth camera and consists of a pair of depth sensors, RGB sensor, and infrared projector (https://store.intelrealsense.com/buy-intel-realsense-depth-camera-d415.html)
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105635/IntelRealSense.jpg)
3D Printers
Ultrasound Imaging Devices
Telemed MicrUs scanner: a USB-powered pocket-size point of care ultrasound imaging system. It offers ultrasound screening in B, M, B/M, 4B modes together with Speckle Reduction Processing, Trapezoid and Spatial compound imaging.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105641/MicrUs_scanner.png)
Phantoms
Skull phantom: includes brain made of silicon containing tumor. This phantom was designed to practice brain tumor biopsies.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11110422/skull_phantom.png)
Breast phantom: designed to train users in various aspects of breast imaging and image-guided interventional procedures. The phantom accurately mimics the heterogeneous appearance of breast tissue under ultrasound, mammography and MRI, and has cystic and dense lesions embedded within the breast background. (https://www.cirsinc.com/products/ultrasound/zerdine-hydrogel/multi-modality-breast-biopsy-and-sonographic-trainer/)
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105633/breast_phantom.png)
Intraoral navigation phantom: includes screws for fiducial registration, a tumor in the palate printed in a different color and a base that supports the attachment of optical, electromagnetic or AR markers.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105636/intraoral_phantom.png)
Pelvic osteotomy phantom: hemipelvis with cones covering the whole surface. It includes a surgical guide (in blue) which adapts to the bone in the crest and to which we can add an AR marker or a rigid body for optical navigation.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105642/pelvic_phantom.png)
Laparoscopy phantom: torso phantom with organs made of silicone and an abdominal skin with holes for the insertion of laparoscopy instruments.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105638/laparoscopy_phantom-1024x492.png)
Tibia with tumor: tibia with tumor and surgical guide for AR marker.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105649/tibia_phantom.png)
Pelvic sarcoma phantom: pelvis with a large tumor. Right pelvis, femur and sacrum included.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105643/pelvicSarcoma_phantom.png)
Sacral neurostimulation phantom: phantom with 3D printed sacrum bone and soft tissue.
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105646/sacrrum_phantom.png)
Tools for surgical navigation
Biopsy needle
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105632/biopsy_needle.png)
Stylus
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105648/stylus.png)
Rigid Bodies
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105645/rigid_bodies.png)
Handpiece tool for intraoral navigation
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105634/handpiece.png)
Electromagnetic pointer
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105633/electromagnetic_pointer.png)
Ultrasound probe electromagnetic sensor holder
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105650/ultrasound_probe.png)
AR 2D and 3D printed markers
![](https://storage.googleapis.com/wp-uploads.bucket.wp.uc3m.es/wp-content/uploads/sites/37/2021/05/11105644/printed_markers.png)
Computing resources
- Nvidia Titan X GPU Workstation
- Nvidia Titan V GPU Workstation