Medic

al Im

agin

g

Ima

ge

Ge

ne

rato

r to

Su

pp

ort

th

e A

pp

lica

tio

n o

f a H

ap

tic

De

vic

e f

or

the

Sim

ula

tio

n o

f A

rth

rosco

pic

Su

rge

ry

Bra

dle

y U

niv

ers

ity

Depart

ment of E

lectr

ical and C

om

pute

r E

ngin

eering

By: R

enata

Zabaw

a

Pro

ject A

dvis

or:

D

r. T

hom

as L

. S

tew

art

Marc

h 7

, 2006

Conte

nts

�P

roje

ct In

troduction

�S

yste

m B

lock D

iagra

ms

�S

oftw

are

Blo

ck D

iagra

ms

�O

rigin

al S

chedule

�T

asks C

om

ple

ted

�T

asks R

em

ain

ing

�U

pdate

d S

chedule

�Q

uestions

Pro

ject In

troduction

�M

agnetic R

eson

ance

Imagin

g (

MR

I)

�M

RI

show

cro

ss s

ection

knee

�C

reate

3-D

model of

cart

ilage

�S

imu

late

surg

eo

n’s

vie

w

duri

ng a

rthro

scop

ic

surg

ery

�S

imu

late

the a

rthro

scopic

surg

ery

with a

haptic

feedback s

yste

m

Pic

ture

Pro

vid

ed

By D

r. S

tew

art

MR

I S

can o

f K

nee

Syste

m B

lock D

iagra

m

Softw

are

Blo

ck D

iagra

ms

�Im

age P

rocessin

g B

lock D

iagra

m

�G

raphic

s B

lock D

iagra

m

Ima

ge P

roce

ssin

g B

lock D

iag

ram

�C

reate

s m

ode

l of

cart

ilag

e

�Is

osurf

aces-d

ispla

ys o

vera

ll str

uctu

re o

f cart

ilage

�Is

ocaps-r

eveal deta

ils o

f in

terior

cart

ilage

Gra

ph

ics B

lock D

iagra

m

�T

akes the m

odel of cart

ilage a

nd c

reate

s

the s

imula

tion o

f an a

rthro

scopic

menis

cus

surg

ery

Actu

al V

iew

s o

f A

rthro

scopic

Knee

Surg

ery

Fig

ure

1:

Art

hro

scopic

Surg

ery

Vie

w o

f F

igure

2:

Art

hro

scopic

Surg

ery

Vie

w

Torn

Ca

rtila

ge

of H

ealth

y C

art

ilage

Origin

al S

chedule

with P

rogre

ss

04/2

7/0

6

04/2

0/0

6D

ocu

me

nta

tion,

Pre

senta

tion

04/1

3/0

6

04/0

6/0

6Im

ple

ment

ha

ptic

de

vic

e w

ith c

art

ilage m

odel

03/3

0/0

6

Rese

arc

h h

aptic

fee

dback s

yste

m03/2

3/0

6

03/1

6/0

6

03/0

9/0

6A

ddre

ss issues fo

r th

e lig

ht a

nd v

iew

contr

ol

03/0

2/0

6

02/2

3/0

6R

ese

arc

h lig

ht a

nd v

iew

co

ntr

ol o

n c

art

ilage

02/1

6/0

6

Addre

ss lig

ht is

sue

s o

f ca

rtila

ge m

odel

02/0

9/0

6

02/0

2/0

6

01/2

6/0

6A

ddre

ss r

en

de

ring

issues o

f cart

ilag

e m

odel

01/1

9/0

6

Rese

arc

h r

end

eri

ng r

outin

es f

or

ca

rtila

ge m

od

el

12/1

6/0

5

Stu

dy D

ay

12/0

7/0

5

Pre

se

nt P

roje

ct

12/0

6/0

5

Task

Date

Not sta

rted

In pro

gre

ss

Com

ple

ted

Rendering P

rogre

ss

�3 D

iffe

rent R

endering R

outines

�Painters

–O

rig

ina

l R

en

de

rin

g m

eth

od

in

ma

tla

b.

DO

ES

NO

T s

up

po

rt lig

ht.

�ZBuffer

-R

en

de

rs p

ixe

ls o

nly

vis

ible

in

sce

ne

. A

llow

s lig

ht.

�OpenGL –

Fa

ste

r th

an

z-b

uff

er

an

d p

ain

ters

.

Allo

ws o

bje

ct

tra

nsp

are

ncy a

nd

lig

ht.

Rendering

Renderin

g w

ith O

penG

lR

end

erin

g w

ith

Zbuff

ers

Cart

ilage M

odel S

plit

Vie

w

�S

et T

arg

et

�S

et C

am

era

Positio

n

Lig

ht

�P

ropert

ies

�A

mb

ien

t S

tre

ng

th

�S

pe

cu

lar

Exp

on

en

t

�S

pe

cu

lar

Str

en

gth

�D

iffu

se

Str

en

gth

�S

et P

ositio

n o

f Lig

ht

Cart

ilage M

odel w

ith L

ight and C

am

era

Positio

n S

et

Lig

ht

�Lig

ht is

Dis

tort

ed

Lig

ht

�S

mooth

data

with a

mean a

vera

gin

g f

ilter

�R

educe t

he n

um

ber

of

faces in

patc

h P

wh

ile t

ryin

g t

o p

reserv

e

the o

vera

ll sha

pe o

f th

e p

atc

h

Vie

w a

nd L

ighting

�Z

oo

m in

on

ta

rge

t

Issues for

Lig

ht and V

iew

Addre

ss Issues f

or

Lig

ht

and V

iew

�M

anually

pic

k o

ut th

e d

ata

poin

ts w

here

the tear

is

�S

epara

te this

section a

nd s

mooth

the tw

o

indiv

idually

�R

epla

ce the s

mooth

ed s

ection o

f th

e tear

with the m

anually

saved d

ata

�S

mooth

the o

vera

ll pic

ture

Update

d S

chedule

04/2

7/0

6

04/2

0/0

6D

ocu

me

nta

tion,

Pre

senta

tion

04/1

3/0

6

04/0

6/0

6

Imple

ment

ha

ptic

de

vic

e w

ith c

art

ilage m

odel

03/3

0/0

6

Rese

arc

h h

aptic

fee

dback s

yste

m03/2

3/0

6

03/1

6/0

6

03/0

9/0

6A

ddre

ss issues fo

r th

e lig

ht a

nd v

iew

contr

ol

03/0

2/0

6

Pro

ject S

um

mary

�P

roje

ct

Intr

od

uctio

n

�S

yste

m B

lock D

iag

ram

s

�S

oft

wa

re B

lock D

iag

ram

s

�O

rig

ina

l S

ch

ed

ule

�T

asks C

om

ple

ted

�T

asks R

em

ain

ing

�U

pd

ate

d S

ch

ed

ule

�Q

ue

stio

ns

Questions?

Vie

w F

em

ur

Matlab

Code

clc

cle

ar

load('seg_im

g_fe

mur_

knee1','

-mat')

;

new

cut=

squeeze(c

img6);

cle

ar

cim

g4

cle

ar

cim

g5

y=

sm

ooth

3(n

ew

cut)

;

Ds =

sm

ooth

3(n

ew

cut,'b

ox',[

7 7

7])

;

Ds(5

1:6

2,2

0:4

0,1

2:1

5)=

y(5

1:6

2,2

0:4

0,1

2:1

5);

Ds=

sm

ooth

3(D

s);

figure

,

whitebg('k')

Vie

w F

em

ur

Cod

e C

ontin

ued

his

o=

patc

h(isosurf

ace(D

s,6

),..

.

'FaceC

olo

r',[255/2

56 2

55/2

56

240/2

56],

...%

ivory

'EdgeC

olo

r','none',..

.

'Am

bie

ntS

tren

gth

',0,...

'faceLig

htin

g','p

hon

g',...

'Specula

rExp

onent',3

,...

'Specula

rStr

ength

',1,.

..

'Backfa

ceLig

hting','u

nlit

',...

'Diffu

seS

treng

th',0,...

'Specula

rColo

rReflecta

nce',0);

hcap

= p

atc

h(isocaps(n

ew

cut,

6),

...

'FaceC

olo

r','in

terp

',...

'EdgeC

olo

r','none',..

.

'Am

bie

ntS

tren

gth

',0,...

'faceLig

htin

g','p

hon

g',...

'Specula

rExp

onent',3

,...

'Specula

rStr

ength

',.5

,...

'Backfa

ceLig

hting','u

nlit

',...

'Diffu

seS

treng

th',0);

reduce

patc

h(h

iso,

.5)

lightin

g p

ho

ng

isonorm

als

(Ds,h

iso);

colo

rma

p;

vie

w(4

5,3

0)

axis

tig

ht

set(

gcf,

'Rendere

r','o

pengl')

xla

be

l('x

-axis

')

yla

be

l('y

-axis

')

zla

be

l('z

-axis

')

Vie

w T

ear

Lig

ht M

atlab

Code

light(

'Positio

n',[3

0 7

0 1

4],

'Sty

le','lo

ca

l','C

olo

r','w

')

cam

targ

et(

[14 1

5 1

4])

cam

pos([

3,7

0,1

4])