Robot-assisted occlusion avoidance for surgical instrument optical tracking system

Author(s):  
Jiaole Wang ◽  
Lin Qi ◽  
Max Q.-H. Meng
2019 ◽  
Vol 2 (1) ◽  
Author(s):  
Husham Farouk Ismail Saied

Discussed the issues' associated with the development of a computed neurosurgery planning system. An important part is to determine the value of invasive surgical access. The study purpose is to design a methodology for finding the shortest distance between surgical target and peripheral point of the brain tissue with strict adherence considering the type of the brain anatomical structure existing in the path of surgical track (risk map), these two condition used in companion to determine the risk value of the surgical access. The study method consists of two algorithms for calculating the shortest surgical access to the target and assuring the safety by avoiding high-density tissues identification method “internal map” describing the anatomy of the brain such as bones. An algorithm for automatic identification of brain vascular system also was designed. The structural diagram of the contrast data visualization system, using computed tomography data, was thoroughly discussed. Also, trying to contribute in solving issues facing developers of modern medical imaging visualization systems to select the most appropriate method from the whole arsenal of algorithms and processing models concerning displaying brain surgical zone using image registration and optical tracking system. The visualization of the target zone is carried out according to an internal reference landmark points inside the center of the brain as well as an automatic algorithm for contour recognition was applied. Moreover, the optical tracking system was used to assess the navigation accuracy of determining the position of the surgical instrument outside the patient head. Algorithms necessary for operational planning also was included, and the proposed method was applied in a pilot study with simulation mode to human brain model, in order to target a specific surgical zone, and as a result, the system suggested (24) possible surgical track, among them, were selected the best and safest access. The total error of a surgical instrument targeting was less than 3 mm (in average 2.6 mm).


2021 ◽  
Vol 6 (1) ◽  
pp. 14-19
Author(s):  
Oleg V. Mareev ◽  
Gleb O. Mareev ◽  
Denis D. Tsymbal ◽  
Olga I. Afonina

Objectives - to determine the necessary conditions for performing robot-assisted operations in the nasal cavity. Material and methods. We have investigated the movement of an endoscope in space by measurements based on high-resolution computed tomography (CT) data. A total of 50 CT scans of the paranasal sinuses were used for this purpose. The tomograms were randomly selected from among the patients of the ENT clinic of the Saratov State Medical University. The main parameters characterizing the movement of the endoscope in the nasal cavity under the conditions set by us are the magnitude of its linear displacement from the entry point and the angle of its deviation, measured in three planes - frontal, sagittal and horizontal, provided that the planes of these sections pass through the entry point during various operations. To control these measurements, we detected the displacements of the endoscope in space using an optical tracking system we made, as well as specialized software designed specifically for the purpose of optical tracking. With the help of this device, measurements were carried out on the skulls and their models, the silicone model for endoscopic examination K. Storz 723128, as well as during real endoscopic operations on the paranasal sinuses. All studies were combined into groups according to the standard protocols of endoscopic operations performed endonasally: Anterior ethmoidotomy, Posterior ethmoidotomy, Frontotomy, Sinusotomy, Sphenotomy, Adenotomy. Results. The main characteristics of the movement of the endoscope in the nasal cavity at a given entry point in the nostril area were established - its maximum linear and angular displacement during various types of FESS interventions for adults. The results obtained by us can serve as the main criteria for the development of a specialized robot assistant that holds and moves the endoscope in space during FESS.


10.29007/2xcn ◽  
2018 ◽  
Author(s):  
Wei Tian ◽  
Mingxing Fan ◽  
Yajun Liu

The fundamental for upper cervical spinal surgery is screws fixation progress, however, anatomical variations of atlantoaxial vertebrae are wide, and the region is adjacent to important organ such as spine cords, oblongata and vertebral artery, all of which make the fixation harder. Robot-assisted navigation can make up for the above shortcomings, and has the potential to more improve the screw placement accuracy.We recently designed a robot system called TiRobot, which is based on intraoperative three-dimensional images. TiRobot has three components: the planning and navigation system, optical tracking system and robotic arm system. By combining navigation and robot techniques, TiRobot can guide the screw trajectories for orthopedic surgeries.TiRobot has been used in upper cervical surgeries with the approval from the Ethics Committee. There were 7 screws inserted during the surgeries, 1 screw for posterior C1- 2 trans-articular fixation, 1 screw for anterior odontoid fixation and 5 for C1 or C2 pedicel fixation. All surgeries were smoothly performed using TiRobot. According to the post-operation CT image data, all the screw placements were sufficient because there was no perforation of the spinal canal or any unexpected malposition. According to the Gertzbein-Robbins classification, all screws fell into group A. Furthermore, there was a discrepancy between the planned and the actual placements at the entry points and the end points. The average deviation in entry point and end point were 1.21 +/- 0.45mm and 1.19 +/- 0.36mm. These safe and accurate results make TiRobot the first medical robot could be used in upper cervical spinal surgery.


2021 ◽  
Vol 11 (9) ◽  
pp. 3947
Author(s):  
Marco Farronato ◽  
Gianluca M. Tartaglia ◽  
Cinzia Maspero ◽  
Luigi M. Gallo ◽  
Vera Colombo

Clinical use of portable optical tracking system in dentistry could improve the analysis of mandibular movements for diagnostic and therapeutic purposes. A new workflow for the acquisition of mandibular kinematics was developed. Reproducibility of measurements was tested in vitro and intra- and inter-rater repeatability were assessed in vivo in healthy volunteers. Prescribed repeated movements (n = 10) in three perpendicular directions of the tracking-device coordinate system were performed. Measurement error and coefficient of variation (CV) among repetitions were determined. Mandibular kinematics of maximum opening, left and right laterality, protrusion and retrusion of five healthy subjects were recorded in separate sessions by three different operators. Obtained records were blindly examined by three observers. Intraclass correlation coefficient (ICC) was calculated to estimate inter-rater and intra-rater reliability. Maximum in vitro measurement error was 0.54 mm and CV = 0.02. Overall, excellent intra-rater reliability (ICC > 0.90) for each variable, general excellent intra-rater reliability (ICC = 1.00) for all variables, and good reliability (ICC > 0.75) for inter-rater tests were obtained. A lower score was obtained for retrusion with “moderate reliability” (ICC = 0.557) in the inter-rater tests. Excellent repeatability and reliability in optical tracking of primary movements were observed using the tested portable tracking device and the developed workflow.


Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2528
Author(s):  
Songlin Bi ◽  
Yonggang Gu ◽  
Jiaqi Zou ◽  
Lianpo Wang ◽  
Chao Zhai ◽  
...  

A high precision optical tracking system (OTS) based on near infrared (NIR) trinocular stereo vision (TSV) is presented in this paper. Compared with the traditional OTS on the basis of binocular stereo vision (BSV), hardware and software are improved. In the hardware aspect, a NIR TSV platform is built, and a new active tool is designed. Imaging markers of the tool are uniform and complete with large measurement angle (>60°). In the software aspect, the deployment of extra camera brings high computational complexity. To reduce the computational burden, a fast nearest neighbor feature point extraction algorithm (FNNF) is proposed. The proposed method increases the speed of feature points extraction by hundreds of times over the traditional pixel-by-pixel searching method. The modified NIR multi-camera calibration method and 3D reconstruction algorithm further improve the tracking accuracy. Experimental results show that the calibration accuracy of the NIR camera can reach 0.02%, positioning accuracy of markers can reach 0.0240 mm, and dynamic tracking accuracy can reach 0.0938 mm. OTS can be adopted in high-precision dynamic tracking.


2020 ◽  
Vol 31 (01) ◽  
pp. 040-049 ◽  
Author(s):  
Robert W. Koch ◽  
Hasan Saleh ◽  
Paula Folkeard ◽  
Sheila Moodie ◽  
Conner Janeteas ◽  
...  

AbstractProbe-tube placement is a necessary step in hearing aid verification which needs ample hands-on experience and confidence before performing in clinic. To improve the methods of training in probe-tube placement, a manikin-based training simulator was developed consisting of a 3D-printed head, a flexible silicone ear, and a mounted optical tracking system. The system is designed to provide feedback to the user on the depth and orientation of the probe tube, and the time required to finish the task. Although a previous validation study was performed to determine its realism and teachability with experts, further validation is required before implementation into educational settings.This study aimed to examine the skill transference of a newly updated probe-tube placement training simulator to determine if skills learned on this simulator successfully translate to clinical scenarios.All participants underwent a pretest in which they were evaluated while performing a probe-tube placement and real-ear-to-coupler difference (RECD) measurement on a volunteer. Participants were randomized into one of two groups: the simulator group or the control group. During a two-week training period, all participants practiced their probe-tube placement according to their randomly assigned group. After two weeks, each participant completed a probe-tube placement on the same volunteer as a posttest scenario.Twenty-five novice graduate-level student clinicians.Participants completed a self-efficacy questionnaire and an expert observer completed a questionnaire evaluating each participant’s performance during the pre- and posttest sessions. RECD measurements were taken after placing the probe tube and foam tip in the volunteer’s ear. Questionnaire results were analyzed through nonparametric t-tests and analysis of variance, whereas RECD results were analyzed using a nonlinear mixed model method.Results suggested students in the simulator group were less likely to contact the tympanic membrane when placing a probe tube, appeared more confident, and had better use of the occluding foam tip, resulting in more improved RECD measurements.The improved outcomes for trainees in the simulator group suggest that supplementing traditional training with the simulator provides useful benefits for the trainees, thereby encouraging its usage and implementation in educational settings.


Sign in / Sign up

Export Citation Format

Share Document