Evaluation of Marker Tracking Using Mono and Stereo Vision in Microsoft HoloLens for Surgical Navigation

Abdullah Thabit*, Wiro J. Niessen, Eppo B. Wolvius, Theo Van Walsum

*Corresponding author for this work

Research output: Chapter/Conference proceedingConference proceedingAcademicpeer-review

2 Citations (Scopus)


Optical-based navigation systems are widely used in surgical interventions. However, despite their great utility and accuracy, they are expensive and require time and effort to setup for surgeries. Moreover, traditional navigation systems use 2D screens to display instrument positions causing the surgeons to look away from the operative field. Head mounted displays such as the Microsoft HoloLens may provide an attractive alternative for surgical navigation that also permits augmented reality visualization. The HoloLens is equipped with multiple sensors for tracking and scene understanding. Mono and stereo-vision in the HoloLens have been both reported to be used for marker tracking, but no extensive evaluation on accuracy has been done to compare the two approaches. The objective of our work is to investigate the tracking performance of various camera setups in the HoloLens, and to study the effect of the marker size, marker distance from camera, and camera resolution on marker locating accuracy. We also investigate the speed and stability of marker pose for each camera setup. The tracking approaches are evaluated using ArUco markers. Our results show that mono-vision is more accurate in marker locating than stereo-vision when high resolution is used. However, this comes at the expense of higher frame processing time. Alternatively, we propose a combined low-resolution mono-stereo tracking setup that outperforms each tracking approach individually and is comparable to high resolution mono tracking, with a mean translational error of 1.8 ± 0.6mm for 10cm marker size at 50cm distance. We further discuss our findings and their implications for navigation in surgical interventions.

Original languageEnglish
Title of host publicationMedical Imaging 2022
Subtitle of host publicationImage-Guided Procedures, Robotic Interventions, and Modeling
EditorsCristian A. Linte, Jeffrey H. Siewerdsen
ISBN (Electronic)9781510649439
Publication statusPublished - 4 Apr 2022
EventMedical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling - Virtual, Online
Duration: 21 Mar 202227 Mar 2022

Publication series

SeriesProgress in Biomedical Optics and Imaging - Proceedings of SPIE


ConferenceMedical Imaging 2022: Image-Guided Procedures, Robotic Interventions, and Modeling
CityVirtual, Online

Bibliographical note

Publisher Copyright:
© 2022 SPIE.


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