Marker Tracking System Research Articles

GaitFormer: Leveraging dual-stream spatial–temporal Vision Transformer via a single low-cost RGB camera for clinical gait analysis

Gait analysis is an essential technique in treating patients with lower limb dysfunctions. Traditional methods often rely on expensive and complex equipment, such as wearable body sensors and a multi-camera with marker tracking system. Aiming for a more cost-effective yet accurate alternative, this paper introduces GaitFormer, a novel approach that leverages Vision Transformer (ViT) for gait analysis using minimal, non-invasive equipment, i.e. a single low-cost RGB camera. Initially, a unique dataset using a multi-camera system with marker tracking, comprising 6 walking patterns gathered from 80 volunteers is developed. The ViT-based GaitFormer is then proposed to automatically recognize human walking patterns through a single RGB camera. GaitFormer comprises hybrid networks for each step, including: (i) a cascaded convolutional 2D human key points estimation network; (ii) a ViT-based dual-stream spatial–temporal network extending the information of human key points into 3D; (iii) leveraging specific lower limb key joints’ angle features for clinical gait analysis, capturing the geometric, kinematic, and physical attributes of human motion; (iv) employing a pure self-attention-based classification network to recognize clinical human walking patterns. The experiments are designed to comprehensively validate each step against various related baseline methods and multi-camera tracking system, with results demonstrating the promising performance of GaitFormer as an affordable, precise, and integrated solution. To the best of our knowledge, GaitFormer is the first hybrid CNN- and ViT-based end-to-end solution via low-cost device for clinically valuable gait analysis.

A custom-built planar biaxial system for soft tissue material testing

Accurate material characterization of soft tissues is crucial for understanding the physiopathology of cardiovascular diseases. However, commercial biaxial testing systems are expensive, prompting the need for affordable custom solutions. This study aimed to develop a low-cost custom biaxial system capable of accurately characterizing the mechanical behavior of soft tissues. The biaxial system was constructed using 3D printing technology and non-captive linear actuators for precise displacement control. A real-time marker tracking system was implemented to estimate dis-placements without the need for costly hardware. The system's performance was evaluated through tests on a calibration spring and frozen porcine aorta samples. The linear actuators demonstrated excellent response to user position input after motor tuning, showing no discrepancies between commands and actual positions. The experimental testing of the calibration spring showed good agreement with the analytical solution, validating the system's ability to accurately test materials. Testing on porcine aorta samples revealed stress–strain responses consistent with existing literature, accounting for potential variations due to tissue preservation and regional material property heterogeneity. Overall, this custom biaxial system demonstrates promising performance in accurately assessing the mechanical behavior of soft tissues, providing researchers with a valuable tool for cardiovascular disease research and tissue engineering applications.

Deep learning enables MV-based real-time image guided radiation therapy for prostate cancer patients

Objective. Using MV images for real-time image guided radiation therapy (IGRT) is ideal as it does not require additional imaging equipment, adds no additional imaging dose and provides motion data in the treatment beam frame of reference. However, accurate tracking using MV images is challenging due to low contrast and modulated fields. Here, a novel real-time marker tracking system based on a convolutional neural network (CNN) classifier was developed and evaluated on retrospectively acquired patient data for MV-based IGRT for prostate cancer patients. Approach. MV images, acquired from 29 volumetric modulated arc therapy (VMAT) prostate cancer patients treated in a multi-institutional clinical trial, were used to train and evaluate a CNN-based marker tracking system. The CNN was trained using labelled MV images from 9 prostate cancer patients (35 fractions) with implanted markers. CNN performance was evaluated on an independent cohort of unseen MV images from 20 patients (78 fractions), using a Precision–Recall curve (PRC), area under the PRC plot (AUC) and sensitivity and specificity. The accuracy of the tracking system was evaluated on the same unseen dataset and quantified by calculating mean absolute (±1 SD) and [1st, 99th] percentiles of the geometric tracking error in treatment beam co-ordinates using manual identification as the ground truth. Main results. The CNN had an AUC of 0.99, sensitivity of 98.31% and specificity of 99.87%. The mean absolute geometric tracking error was 0.30 ± 0.27 and 0.35 ± 0.31 mm in the lateral and superior–inferior directions of the MV images, respectively. The [1st, 99th] percentiles of the error were [−1.03, 0.90] and [−1.12, 1.12] mm in the lateral and SI directions, respectively. Significance. The high classification performance on unseen MV images demonstrates the CNN can successfully identify implanted prostate markers. Furthermore, the sub-millimetre accuracy and precision of the marker tracking system demonstrates potential for adaptation to real-time applications.

A cable driven robotic palpation system with contact force sensing based on cable tension observation.

Prostate Cancer screening based on manual palpation is subjective. Robotic palpation systems can objectively acquire stiffness conditions of the prostate. A 2DoF cable driven robotic system for prostate palpation is proposed. An indirect method to estimate the contact force based on cable tension observation is presented. Kinematic models and a joint angle estimation method to determine the tip position of the probe are derived. Positioning accuracy was verified using an optical marker tracking system and by displacement measurement, respectively. The contact force estimation method was validated on silicone phantom samples. A good consistence between the estimated and measured contact force was observed. The contact force was correlated with the elastic modulus of each silicone phantom. There was also a good agreement between the theoretical and the measured tip position. In the proposed palpation system, the indirect contact force estimation method is viable and holds potential for the stiffness assessment of the prostate. The tip position vital for palpation can be determined through estimated joint angles.

Improved Position Accuracy of Foot-Mounted Inertial Sensor by Discrete Corrections from Vision-Based Fiducial Marker Tracking.

In this paper, we present a novel pedestrian indoor positioning system that uses sensor fusion between a foot-mounted inertial measurement unit (IMU) and a vision-based fiducial marker tracking system. The goal is to provide an after-action review for first responders during training exercises. The main contribution of this work comes from the observation that different walking types (e.g., forward walking, sideways walking, backward walking) lead to different levels of position and heading error. Our approach takes this into account when accumulating the error, thereby leading to more-accurate estimations. Through experimentation, we show the variation in error accumulation and the improvement in accuracy alter when and how often to activate the camera tracking system, leading to better balance between accuracy and power consumption overall. The IMU and vision-based systems are loosely coupled using an extended Kalman filter (EKF) to ensure accurate and unobstructed positioning computation. The motion model of the EKF is derived from the foot-mounted IMU data and the measurement model from the vision system. Existing indoor positioning systems for training exercises require extensive active infrastructure installation, which is not viable for exercises taking place in a remote area. With the use of passive infrastructure (i.e., fiducial markers), the positioning system can accurately track user position over a longer duration of time and can be easily integrated into the environment. We evaluated our system on an indoor trajectory of 250 m. Results show that even with discrete corrections, near a meter level of accuracy can be achieved. Our proposed system attains the positioning accuracy of 0.55 m for a forward walk, 1.05 m for a backward walk, and 1.68 m for a sideways walk with a 90% confidence level.

Accuracy, recording interference, and articulatory quality of headsets for ultrasound recordings

In this paper we evaluate the accuracy, recording interference, and articulatory quality of two different ultrasound probe stabilization headsets: a metallic Ultrasound Stabilisation Headset (USH) and UltraFit, a recently developed headset that is 3D printed in Nylon. To evaluate accuracy, we recorded three native speakers of German with different head sizes using an optical marker tracking system that provides sub-millimeter tracking accuracy (NaturalPoint OptiTrack Expression). The speakers had to read C1V1C2V1/2 non-words (to diminish lexical influences) in three conditions: wearing the USH headset, wearing the UltraFit headset, and without a headset. To estimate the relative headset movement, we measured the movement between tracked points on the probe, headset, and speaker’s nose. By also tracking visual marker points on the speaker’s lip and chin, we compared the movement of the outer articulators with and without a headset and, thereby, measured how the headsets interfere with the articulatory space of the speaker. Additionally, we computed the differences in tongue profiles at the acoustic midpoint of V1 under the three conditions and evaluated the articulatory recording quality with a distance index and an area index. In the final evaluation, we also compared formant measurements of recordings with and without headsets. With this objective evaluation we provide a systematic analysis of different headsets for Ultrasound Tongue Imaging (UTI) and also contribute to the discussion of using UTI stabilization headsets for recording natural speech. We show that both headsets have a similar accuracy, with the USH performing slightly better overall but introducing the largest error for one speaker, and that the UltraFit headset shows more flexibility during recordings. Each headset influences the lip opening differently. Concerning the tongue movement, there are no significant differences between different sessions, showing the stability of both headsets during the recordings. Acoustic analysis of formant differences in vowels revealed that the USH headset has a larger influence on formant production than the UltraFit headset.

Concurrent validity and reliability of a mobile tracking technology to measure angular and linear movements of the neck

The neck can be moved in six degrees of freedom. Current 3D-optoelectronic motion-capture systems capable of measuring these movements are inappropriate for use in clinical practice because they are stationary, expensive and time-consuming. We therefore developed a less complex 3D-tracking technology based on Steam®VR to measure six degrees of freedom in a clinical setting. The aim of this study was to assess the validity and reliability of this system.The developed prototype consists of two infrared-emitting lighthouses and sensors, mounted on the participant’s helmet and trunk belt, to detect the orientation of the head and trunk. The system was evaluated by means of an infrared light-reflecting marker tracking system. Twenty healthy participants, equipped with these sensors and markers, performed thirteen neck movement tasks. Linear and angular movements were measured. These tasks were repeated after six to eight days to assess test-retest reliability. Concurrent validity was assessed by the root mean square error, and reliability with generalizability theory.With an average root mean square error between 1.2 and 2.0° in angular and 0.4–0.5 cm in linear movements, the prototype was shown to precisely track these movements. Reliability of the prototype and the reference system was comparable for all tasks. A high contribution of participant’s variability to the observed variance was generally detected, with the exception of joint repositioning error and upper cervical flexion.The reliability was task-specific and did not differ between the systems. The prototype system was shown to be valid, although the reliability of the repositioning and upper cervical flexion tests needs to be reconsidered.

Visual Calibration for Multiview Laser Doppler Speed Sensing.

We present a novel calibration method for a multi-view laser Doppler speed sensing (MLDSS) system. In contrast with the traditional method where only the laser geometry is independently calibrated, the proposed method simultaneously optimizes all the laser parameters and directly associates the parameters with a motion sensing model. By jointly considering the consistency among laser Doppler velocimetry, the laser geometry and a visual marker tracking system, the proposed calibration method further boosts the accuracy of MLDSS. We analyzed the factors influencing the precision, and quantitatively evaluated the efficiency of the proposed method on several data sets.

Tree vibrations: Determining oscillatory properties by using infra-red marker-tracking system

A state-of-the-art infrared marker-tracking system that consists of eight cameras outfitted with infra-red optical filters and an array of infra-red light-emitting diodes as well as a set of reflective markers, is used to record the motion of a set of markers arranged along a trunk-dominated potted tree, which was pulled and released to perform free vibrations. The time-history diagrams of these markers are numerically fitted to the corresponding analytical mathematical model for each marker, in which the markers are treated as particles performing in-plane oscillations. This combination of experimental, analytical and numerical results yields the main vibration properties of the markers, i.e. the points on the tree: natural frequencies, damping ratios and the position of principal axes in two cases: for the in-leaf and out-of-leaf tree under consideration. The shape of the time history diagrams for the motion along one direction indicates the initial increase of the amplitude, and this property is found to be associated with two closed-valued natural frequencies. These two natural frequencies decreased after the removal of leaves, but stayed closed-valued. Two natural frequencies correspond to two principal axes, whose change along the height of the tree is also determined in both cases. The change of the damping ratios associated with two principal axes is also obtained: only one of them changed after the removal of leaves. Besides providing a proof of concept for the use of the high-tech marker-tracking system for obtaining certain oscillatory characteristics, this study also points out the possibilities for future work in which this system can be beneficial for investigating tree vibrations and deflections under different loads.

An Improved Indoor Robot Human-Following Navigation Model Using Depth Camera, Active IR Marker and Proximity Sensors Fusion

Creating a navigation system for autonomous companion robots has always been a difficult process, which must contend with a dynamically changing environment, which is populated by a myriad of obstructions and an unspecific number of people, other than the intended person, to follow. This study documents the implementation of an indoor autonomous robot navigation model, based on multi-sensor fusion, using Microsoft Robotics Developer Studio 4 (MRDS). The model relies on a depth camera, a limited array of proximity sensors and an active IR marker tracking system. This allows the robot to lock onto the correct target for human-following, while approximating the best starting direction to begin maneuvering around obstacles for minimum required motion. The system is implemented according to a navigation algorithm that transforms the data from all three types of sensors into tendency arrays and fuses them to determine whether to take a leftward or rightward route around an encountered obstacle. The decision process considers visible short, medium and long-range obstructions and the current position of the target person. The system is implemented using MRDS and its functional test performance is presented over a series of Virtual Simulation Environment scenarios, greenlighting further extensive benchmark simulations.

Experimental investigations on aerodynamic response of panel structures at high subsonic and low supersonic mach numbers

Panel flutter is an aeroelastic phenomenon known since the mid 1940’s. Extensive experimental and theoretical studies followed in the 1960’s and 70’s. The theoretical models applied at that time yield satisfactory results for subsonic and high supersonic Mach numbers but are inaccurate in terms of predicting the aerodynamic loads at transonic flows. In the recent years new Fluid-Structure-Interaction (FSI) methods by means of coupled CFD and FE computations have shown an increased accuracy in that Mach number domain. Within a common research project of the Airbus Company and the German Aerospace Center (DLR) such a computational approach is used for theoretical panel flutter analysis. Experiments were performed in 2015 and 2017 to validate the numerical results and to study the flow characteristics in the Mach number range 0.7 < M∞ < 1.2. For this purpose the aerodynamic response on the first eigenmode of a clamped rectangular plate is measured by means of forced motion experiments. Hydraulic actuation is used to realize small sinusoidal deflections of the plate over a wide range of amplitudes and frequencies, which has been verified by a stereo camera marker tracking system. The flow conditions in the wind tunnel are varied by means of the Mach number and the total pressure (Reynolds number) and the flow response is measured by high sensitive miniature pressure transducers.

The efficacy of a video-based marker-less tracking system for gait analysis

Most clinical gait analyses are conducted using motion capture systems which track retro-reflective markers that are placed on key landmarks of the participants. An alternative to a three-dimensional (3D) motion capture, marker-based, optical camera system may be a marker-less video-based tracking system. The aim of our study was to investigate the efficacy of the use of a marker-less tracking system in the calculation of 3D joint angles for possible use in clinical gait analysis. Ten participants walked and jogged on a treadmill and their kinematic data were captured with a marker and marker-less tracking system simultaneously. The hip, knee and ankle angles in the frontal, sagittal and transverse planes were computed. Root Mean Square differences (RMSdiff) between corresponding angles for each participant’s support phase were calculated and averaged to derive the mean within-subject RMSdiff. These within-subject means were averaged to obtain the mean between-subject RMSdiff for the relevant joint angles in the two gait conditions (walking and jogging). The RMSdiff between the two tracking systems was less than 1° for all rotations of the three joint angles of the hip and knee. However, there were slightly larger differences in the ankle joint angles. The results of this study suggest a potential application in gait analysis in clinical settings where observations of anatomical motions may provide meaningful feedback.

Development of a real-time internal and external marker tracking system for particle therapy: a phantom study using patient tumor trajectory data

Target motion–induced uncertainty in particle therapy is more complicated than that in X-ray therapy, requiring more accurate motion management. Therefore, a hybrid motion-tracking system that can track internal tumor motion and as well as an external surrogate of tumor motion was developed. Recently, many correlation tests between internal and external markers in X-ray therapy have been developed; however, the accuracy of such internal/external marker tracking systems, especially in particle therapy, has not yet been sufficiently tested. In this article, the process of installing an in-house hybrid internal/external motion-tracking system is described and the accuracy level of tracking system was acquired. Our results demonstrated that the developed in-house external/internal combined tracking system has submillimeter accuracy, and can be clinically used as a particle therapy system as well as a simulation system for moving tumor treatment.

TH‐EF‐BRB‐08: Robotic Motion Compensation for Radiation Therapy: A 6DOF Phantom Study

Purpose:The high accuracy of frame‐based stereotactic radiosurgery (SRS), which uses a rigid frame fixed to the patient's skull, is offset by potential drawbacks of poor patient compliance and clinical workflow restrictions. Recent research into frameless SRS has so far resulted in reduced accuracy. In this study, we investigate the use of a novel 6 degree‐of‐freedom (6DOF) robotic head motion cancellation system that continuously detects and compensates for patient head motions during a SRS delivery. This approach has the potential to reduce invasiveness while still achieving accuracies better or equal to traditional frame‐based SRS.Methods:A 6DOF parallel kinematics robotics stage was constructed, and controlled using an inverse kinematics‐based motion compensation algorithm. A 6DOF stereoscopic infrared (IR) marker tracking system was used to monitor real‐time motions at sub‐millimeter and sub‐degree levels. A novel 6DOF calibration technique was first applied to properly orient the camera coordinate frame to match that of the LINAC and robotic control frames. Simulated head motions were measured by the system, and the robotic stage responded to these 6DOF motions automatically, returning the reflective marker coordinate frame to its original position.Results:After the motions were introduced to the system in the phantom‐based study, the robotic stage automatically and rapidly returned the phantom to LINAC isocenter. When errors exceeded the compensation lower threshold of 0.25 mm or 0.25 degrees, the system registered the 6DOF error and generated a cancellation trajectory. The system responded in less than 0.5 seconds and returned all axes to less than 0.1 mm and 0.1 degree after the 6DOF compensation was performed.Conclusion:The 6DOF real‐time motion cancellation system was found to be effective at compensating for translational and rotational motions to current SRS requirements. This system can improve frameless SRS by automatically returning patients to isocenter with high 6DOF accuracy.

TH-AB-202-11: Spatial and Rotational Quality Assurance of 6DOF Patient Tracking Systems

Purpose: External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations (6DOF). In this work, we develop a novel technique to evaluate the 6DOF performance of external motion tracking systems. We apply this methodology to an infrared (IR) marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. Methods: An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to follow input trajectories with sub-millimeter and sub-degree accuracy. The 6DOF positions of the robotic system were then tracked and recorded independently by three optical camera systems. A calibration methodology which associates the motion phantom and camera coordinate frames was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20×20×16 mm and 5×5×5 degree workspace. The intended input motions were compared to the calibrated 6DOF measured points. Results: The technique found the accuracy of the IR marker tracking system to have maximal root mean square error (RMSE) values of 0.25 mm translationally and 0.09 degrees rotationally, in any one axis, comparing intended 6DOF positions to positions measured by the IR camera. The 6DOF RSME discrepancy for the first 3D optical surface tracking unit yielded maximal values of 0.60 mm and 0.11 degrees over the same 6DOF volume. An earlier generation 3D optical surface tracker was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.74 mm and 0.28 degrees within the same 6DOF evaluation space. Conclusion: The proposed technique was effective at evaluating the performance of 6DOF patient tracking systems. All systems examined exhibited tracking capabilities at the sub-millimeter and sub-degree level within a 6DOF workspace.

Technical Note: High temporal resolution characterization of gating response time.

Low temporal latency between a gating ON/OFF signal and the LINAC beam ON/OFF during respiratory gating is critical for patient safety. Here the authors describe a novel method to precisely measure gating lag times at high temporal resolutions. A respiratory gating simulator with an oscillating platform was modified to include a linear potentiometer for position measurement. A photon diode was placed at linear accelerator isocenter for beam output measurement. The output signals of the potentiometer and diode were recorded simultaneously at 2500 Hz with an analog to digital converter for four different commercial respiratory gating systems. The ON and OFF of the beam signal were located and compared to the expected gating window for both phase and position based gating and the temporal lag times extracted. For phase based gating, a real-time position management (RPM) infrared marker tracking system with a single camera and a RPM system with a stereoscopic camera were measured to have mean gate ON/OFF lag times of 98/90 and 86/44 ms, respectively. For position based gating, an AlignRT 3D surface system and a Calypso magnetic fiducial tracking system were measured to have mean gate ON/OFF lag times of 356/529 and 209/60 ms, respectively. Temporal resolution of the method was high enough to allow characterization of individual gate cycles and was primary limited by the sampling speed of the data recording device. Significant variation of mean gate ON/OFF lag time was found between different gating systems. For certain gating devices, individual gating cycle lag times can vary significantly.

Spatial and rotational quality assurance of 6DOF patient tracking systems.

External tracking systems used for patient positioning and motion monitoring during radiotherapy are now capable of detecting both translations and rotations. In this work, the authors develop a novel technique to evaluate the 6 degree of freedom 6(DOF) (translations and rotations) performance of external motion tracking systems. The authors apply this methodology to an infrared marker tracking system and two 3D optical surface mapping systems in a common tumor 6DOF workspace. An in-house designed and built 6DOF parallel kinematics robotic motion phantom was used to perform motions with sub-millimeter and subdegree accuracy in a 6DOF workspace. An infrared marker tracking system was first used to validate a calibration algorithm which associates the motion phantom coordinate frame to the camera frame. The 6DOF positions of the mobile robotic system in this space were then tracked and recorded independently by an optical surface tracking system after a cranial phantom was rigidly fixed to the moveable platform of the robotic stage. The calibration methodology was first employed, followed by a comprehensive 6DOF trajectory evaluation, which spanned a full range of positions and orientations in a 20 × 20 × 16 mm and 5° × 5° × 5° workspace. The intended input motions were compared to the calibrated 6DOF measured points. The technique found the accuracy of the infrared (IR) marker tracking system to have maximal root-mean square error (RMSE) values of 0.18, 0.25, 0.07 mm, 0.05°, 0.05°, and 0.09° in left-right (LR), superior-inferior (SI), anterior-posterior (AP), pitch, roll, and yaw, respectively, comparing the intended 6DOF position and the measured position by the IR camera. Similarly, the 6DOF RSME discrepancy for the HD optical surface tracker yielded maximal values of 0.46, 0.60, 0.54 mm, 0.06°, 0.11°, and 0.08° in LR, SI, AP, pitch, roll, and yaw, respectively, over the same 6DOF evaluative workspace. An earlier generation 3D optical surface tracking unit was observed to have worse tracking capabilities than both the IR camera unit and the newer 3D surface tracking system with maximal RMSE of 0.69, 0.74, 0.47 mm, 0.28°, 0.19°, and 0.18°, in LR, SI, AP, pitch, roll, and yaw, respectively, in the same 6DOF evaluation space. The proposed technique was found to be effective at evaluating the performance of 6DOF patient tracking systems. All observed optical tracking systems were found to exhibit tracking capabilities at the sub-millimeter and subdegree level within a 6DOF workspace.

Effects of postural specific sensorimotor training in patients with chronic low back pain: study protocol for randomised controlled trial

BackgroundSensorimotor training (SMT) is popularly applied as a preventive or rehabilitative exercise method in various sports and rehabilitation settings. Yet, there is only low-quality evidence on its effect on pain and function. This randomised controlled trial will investigate the effects of a theory-based SMT in rehabilitation of chronic (>3 months) non-specific low back pain (CNLBP) patients.Methods/DesignA pilot study with a parallel, single-blinded, randomised controlled design. Twenty adult patients referred to the clinic for CNLBP treatment will be included, randomised, and allocated to one of two groups. Each group will receive 9 x 30 minutes of standard physiotherapy (PT) treatment. The experimental group will receive an added 15 minutes of SMT. For SMT, proprioceptive postural exercises are performed on a labile platform with adjustable oscillation to provoke training effects on different entry levels. The active comparator group will perform 15 minutes of added sub-effective low-intensity endurance training. Outcomes are assessed on 4 time-points by a treatment blinded tester: eligibility assessment at baseline (BL) 2–4 days prior to intervention, pre-intervention assessment (T0), post-intervention assessment (T1), and at 4 weeks follow-up (FU). At BL, an additional healthy control group (n = 20) will be assessed to allow cross-sectional comparison with symptom-free participants. The main outcomes are self-reported pain (Visual Analogue Scale) and functional status (Oswestry Disability Index). For secondary analysis, postural control variables after an externally perturbed stance on a labile platform are analysed using a video-based marker tracking system and a pressure plate (sagittal joint-angle variability and centre of pressure confidence ellipse). Proprioception is measured as relative cervical joint repositioning error during a head-rotation task. Effect sizes and mixed-model MANOVA (2 groups × 4 measurements for 5 dependent variables) will be calculated.DiscussionThis is the first attempt to systematically investigate effects of a theory-based sensorimotor training in patients with CNLBP. It will provide analysis of several postural segments during a dynamic task for quantitative analysis of quality and change of the task performance in relation to changes in pain and functional status.Trial registrationTrial registry number on cliniclatrials.gov is NCT02304120, first registered on 17 November 2014.

Factors affecting the design and tracking of ARToolKit markers

The quality of ARToolKit markers plays a vital role in the performance of Augmented Reality applications, but currently there is no algorithm or quantitative measure to guide users for designing high quality markers and their reliable tracking. This paper presents eleven factors that are important for designing and tracking ARToolKit markers. The effect of each factor on the quality (accuracy, detection speed, and inter-marker confusion) of marker tracking system is investigated and the optimal value(s) of these factors are found. Using the optimal values of these factors one can achieve the goal of reliable and robust tracking of fiducial markers.

SU‐F‐BRE‐05: Development and Evaluation of a Real‐Time Robotic 6D Quality Assurance Phantom

Purpose:A 6 degree‐of‐freedom robotic phantom capable of reproducing dynamic tumor motion in 6D was designed to more effectively match solid tumor movements throughout pre‐treatment scanning and radiation therapy. With the abundance of optical and x‐ray 6D real‐time tumor tracking methodologies clinically available, and the substantial dosimetric consequences of failing to consider tumor rotation as well as translation, this work presents the development and evaluation of a 6D instrument with the facility to improve quality assurance.Methods:An in‐house designed and built 6D robotic motion phantom was constructed following the so‐called Stewart‐Gough parallel kinematics platform archetype. The device was then controlled using an inverse kinematics formulation, and precise movements in all six degrees of freedom (X, Y, Z, pitch, roll, and yaw) as well as previously obtained cranial motion, were effectively executed. The robotic phantom movements were verified using a 15 fps 6D infrared marker tracking system (Polaris, NDI), and quantitatively compared to the input trajectory. Thus, the accuracy and repeatability of 6D motion was investigated and the phantom performance was characterized.Results:Evaluation of the 6D platform demonstrated translational RMSE values of 0.196 mm, 0.260 mm, and 0.101 mm over 20 mm in X and Y and 10 mm in Z, respectively, and rotational RMSE values of 0.068 degrees, 0.0611 degrees, and 0.095 degrees over 10 degrees of pitch, roll, and yaw, respectively. The robotic stage also effectively performed controlled 6D motions, as well as reproduced cranial trajectories over 15 minutes, with a maximal RMSE of 0.044 mm translationally and 0.036 degrees rotationally.Conclusion:This 6D robotic phantom has proven to be accurate under clinical standards and capable of reproducing tumor motion in 6D. Consequently, such a robotics device has the potential to serve as a more effective system for IGRT QA that involves both translational and rotational dimensions.Research was partially funded by NIH Grant T32 EB002103‐21 from NIBIB. Contents are solely the responsibility of the authors and do not necessarily represent the official views of the NIBIB or NIH.