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. 2018 Oct 5;8:14894. doi: 10.1038/s41598-018-32424-z

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© The Author(s) 2018

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Clinical prototype of the experimental navigational system. (A) Design model of the surgical light head with embedded navigation. Designed to inconspicuously serve as traditional boom-supported surgical light head comprised of 64 high intensity surgical light LEDs to provide standard lighting with minimal spectral overlap with the navigation optics. Binocular infrared cameras utilizing provide real-time tracking of passive-reflective markers mounted on surgical tools. A digital mirror device centered around binocular structured light cameras forming an epipolar baseline provide intra-operative surface imaging for registration to the pre-operative images. Co-ordinates of the tracked tools are easily matched to the acquired structured light surface image. (B) Design model of the surgical light head with embedded navigation: Technical specifications: Field of view of the infrared tracking volume (outer pyramid) and the structured light imaging volume (inner pyramid). All measurements are in millimeters. (C) Prototype navigation system in clinical use. (D) Comparison of total setup time (median and IQR) for cranial and spine applications of experimental and benchmark navigation systems (cranial: StealthStation; spine A: Nav3/3i; spine B: O-arm).