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Final Presentation. Video Overlay. Advanced Computer Integrated Surgery (600.446) Jeff Hsin, Cyrus Moon, Anand Viswanathan. Overview of Video Overlay. Video Overlay: The ability to accurately superimpose computer generated images onto related objects in real-time video. Software Flow Chart.

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Video overlay l.jpg

Final Presentation

Video Overlay

Advanced Computer Integrated Surgery (600.446)

Jeff Hsin, Cyrus Moon, Anand Viswanathan

Overview of video overlay l.jpg

Overview of Video Overlay

Video Overlay:

The ability to accurately superimpose computer generated images onto related objects in real-time video.

Software flow chart l.jpg
Software Flow Chart



















Final plan l.jpg
Final Plan


  • Tracker code:

    • testing3/18 3/18 

  • Networking Code:

    • testing 3/18-25 4/13* 5/6*

  • Graphics Code:

    • diagram frames & transformations3/11 3/11 

    • framework 3/25 3/25 

    • primitive tracking/rendering: 3/25 4/15* 4/15*

    • tool object creation3/25 3/25 

    • tool calibration-- 4/? 

    • video input -- 4/15* 5/10*

    • camera calibration -- ? 5/6*

    • working video overlay system 4/7 4/22* 5/10**

Blue – Completed * – Changed Date ** – Twice Changed Date

Results work accomplished l.jpg
Results/Work Accomplished

  • Functional and tested Optotracker class

  • Working network software (UDP transportation of frame data)

  • Functional and tested vqs class

  • Working graphics framework

  • Integrated Tracking/Video/Graphics software

  • Working pointer/camera calibration software

  • Functional Video Overlay System

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Coordinate Graph (Video Overlay)

World (Tracker)


Patient markers


Model (from Imaging)

. . . . . . . .

Tool 1

Tool k


*Dynamic Transforms

(determined by Optotrak)

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Possible Improvements(Remaining Work to be Done)

  • Network Code:

    • Client/Server Model of OptoTracker class

    • fix remaining bugs of CIS Libraries (CISNetwork)

    • Usage of multithreading

    • or: Robust network code--using CORBA instead

  • Improved Pointer Calibration Program

  • Fully tested/debugged Camera Calibration Code

  • Curve Rendering Function

  • Registration Program

  • More Debugging and Quality Testing

  • Video Distortion Correction

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Significance of Work

  • Use of video overlay would make some surgeries more accurate and consistent.

    • Video overlay could be integrated into a broad range of surgical procedures

  • Code from this project could be used as basic frameworks for future projects in the ERC involving the OptoTrak, Video Input, Networking, and/or GLVU.

  • Code could be modified/appended to work with Image Overlay.

  • Aid in debugging of CIS Libraries has made them more robust, functional

Problems encountered l.jpg
Problems Encountered

  • Figuring out other people’s code:

    • Lack of good documentation

  • Compiling/Linking problems

    • includes, libraries, dependencies

  • Code Integration (incompatibilities)

    • Networking: SPREADCORBATCPUDP

    • CC and g++

  • Optotracker problems?—Anand

    needs to remember 

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What We have Learned

  • Issues associated with large scale code development

    • manipulation/use of large amounts of code is difficult; Integrating them is even harder

      • Optotrak API,CIS Libraries, VL libraries, glvu libraries

    • compilation/compatibility issues

      • CORBA and CIS libraries

      • different compilers do different things (CC and g++ don’t mix)

      • what a makefile is (finally!)

      • .dll vs. .lib creation

What we have learned cont d l.jpg
What We Have Learned (cont’d)

Always Check on dependencies

Organization = efficiency, less wasted time/stress

Know what to do / when to do it

‘If you don’t write it down, it never happened’

One can never have too many backup plans

The skeleton in the ERC is real

"You Morons!“ -- Randy G. (to team Video Overlay & co.)

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What we would have done differently

  • Better planning/research earlier on in the project

  • Bugged advisors earlier/gotten help as soon as possible

  • Setting of smaller, daily/weekly goals

  • More organization

    Cyrus punching paper towels 

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Special Thanks to :

  • Advisors:

    -Dr. Taylor -Dr. Cohen

  • ERC people:

    -Anton Deguet -Dr. Rajesh Kumar -Andy Bzostek

    -Sadi Yigit -Adam Morris

    -rest of the ERC Staff for moral support

  • Jeff Lee - Beta Tester for OptoTracker class