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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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Optical topographical imaging (OTI) experimental navigation system. (A) Structured light patterns projected into the open surgical field. Structured light patterns deflect and deform upon reaching the surface of the target. Pattern deformations reflect height variations (along the optical axis) of the surface. (B) Registered reconstructed surface data to pre-acquired imaging data with tool tracking capabilities. Verification of the system’s accuracy is conducted by sliding a passively tracked probe along boney landmarks of the anatomy and confirming the system is reporting the tool’s spatial location correctly. (C) Grey-scale stereoscopic cameras acquire surface images: light patterns are projected onto the surface, images are captured and 3D reconstructions and thresholded point-clouds are created representing the bony surface of the spine. (D) Registration of the acquired 3D-point cloud to pre-acquired imaging data (i.e. CT, MRI, OTI) using an iterative closest point (ICP) algorithm based on a three-point picking protocol.