A novel 4 camera multi-stereo tracking system for application in surgical navigation systems

2020 ◽  
Vol 87 (7-8) ◽  
pp. 451-458
Author(s):  
Oliver Gieseler ◽  
Hubert Roth ◽  
Jürgen Wahrburg
Keyword(s):  
Operating Room ◽  
Surgical Navigation ◽  
Tracking System ◽  
Computer Assisted Surgery ◽  
Optical Tracking ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Camera Model ◽  
Camera System ◽  
Industrial Cameras

AbstractIn this paper, we present a novel 4 camera stereo system for application as optical tracking component in navigation systems in computer-assisted surgery. This shall replace a common stereo camera system in several applications. The objective is to provide a tracking component consisting of four single industrial cameras. The system can be built up flexibly in the operating room e. g. at the operating room lamp. The concept is characterized by independent, arbitrary camera mounting poses and demands easy on-site calibration procedures of the camera setup. Following a short introduction describing the environment, motivation and advantages of the new camera system, a simulation of the camera setup and arrangement is depicted in Section 2. From this, we gather important information and parameters for the hardware setup, which is described in Section 3. Section 4 includes the calibration of the cameras. Here, we illustrate the background of camera model and applied calibration procedures, a comparison of calibration results obtained with different calibration programs and a new concept for fast and easy extrinsic calibration.

scholarly journals 4D spatio-temporal convolutional networks for object position estimation in OCT volumes

2020 ◽  
Vol 6 (1) ◽  
Author(s):  
Marcel Bengs ◽  
Nils Gessert ◽  
Alexander Schlaefer
Keyword(s):  
Spatial Information ◽  
Tracking System ◽  
Computer Assisted Surgery ◽  
Absolute Error ◽  
Position Estimation ◽  
Optical Tracking ◽  
Computer Assisted ◽  
Optical Tracking System ◽  
Spatio Temporal ◽  
The Impact

AbstractTracking and localizing objects is a central problem in computer-assisted surgery. Optical coherence tomography (OCT) can be employed as an optical tracking system, due to its high spatial and temporal resolution. Recently, 3D convolutional neural networks (CNNs) have shown promising performance for pose estimation of a marker object using single volumetric OCT images. While this approach relied on spatial information only, OCT allows for a temporal stream of OCT image volumes capturing the motion of an object at high volumes rates. In this work, we systematically extend 3D CNNs to 4D spatio-temporal CNNs to evaluate the impact of additional temporal information for marker object tracking. Across various architectures, our results demonstrate that using a stream of OCT volumes and employing 4D spatio-temporal convolutions leads to a 30% lower mean absolute error compared to single volume processing with 3D CNNs.

scholarly journals Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders

2019 ◽  
Vol 15 (2) ◽  
pp. 369-377
Author(s):  
Roeland Eppenga ◽  
Koert Kuhlmann ◽  
Theo Ruers ◽  
Jasper Nijkamp
Keyword(s):  
Degrees Of Freedom ◽  
Surgical Navigation ◽  
Tracking System ◽  
Optical Tracking ◽  
Navigation Systems ◽  
Optical Tracking System ◽  
Worst Case ◽  
Tumor Tracking ◽  
Surgical Tool ◽  
Vector Information

Abstract Purpose Surgical navigation systems are generally only applied for targets in rigid areas. For non-rigid areas, real-time tumor tracking can be included to compensate for anatomical changes. The only clinically cleared system using a wireless electromagnetic tracking technique is the Calypso® System (Varian Medical Systems Inc., USA), designed for radiotherapy. It is limited to tracking maximally three wireless 5-degrees-of-freedom (DOF) transponders, all used for tumor tracking. For surgical navigation, a surgical tool has to be tracked as well. In this study, we evaluated whether accurate 6DOF tumor tracking is possible using only two 5DOF transponders, leaving one transponder to track a tool. Methods Two methods were defined to derive 6DOF information out of two 5DOF transponders. The first method uses the vector information of both transponders (TTV), and the second method combines the vector information of one transponder with the distance vector between the transponders (OTV). The accuracy of tracking a rotating object was assessed for each method mimicking clinically relevant and worst-case configurations. Accuracy was compared to using all three transponders to derive 6DOF (Default method). An optical tracking system was used as a reference for accuracy. Results The TTV method performed best and was as accurate as the Default method for almost all transponder configurations (median errors < 0.5°, 95% confidence interval < 3°). Only when the angle between the transponders was less than 2°, the TTV method was inaccurate and the OTV method may be preferred. The accuracy of both methods was independent of the angle of rotation, and only the OTV method was sensitive to the plane of rotation. Conclusion These results indicate that accurate 6DOF tumor tracking is possible using only two 5DOF transponders. This encourages further development of a wireless EM surgical navigation approach using a readily available clinical system.

Image-Guided Spinal Surgery and Robotics in MIS: Where Are We Now?

2018 ◽  
Vol 1 (2) ◽  
pp. 2
Author(s):  
Chiung Chyi Shen
Keyword(s):  
Pedicle Screw ◽  
Spinal Surgery ◽  
Surgical Navigation ◽  
Improve Patient Safety ◽  
Intraoperative Imaging ◽  
Spinal Instrumentation ◽  
Pedicle Screws ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Image Guided

Use of pedicle screws is widespread in spinal surgery for degenerative, traumatic, and oncological diseases. The conventional technique is based on the recognition of anatomic landmarks, preparation and palpation of cortices of the pedicle under control of an intraoperative C-arm (iC-arm) fluoroscopy. With these conventional methods, the median pedicle screw accuracy ranges from 86.7% to 93.8%, even if perforation rates range from 21.1% to 39.8%.The development of novel intraoperative navigational techniques, commonly referred to as image-guided surgery (IGS), provide simultaneous and multiplanar views of spinal anatomy. IGS technology can increase the accuracy of spinal instrumentation procedures and improve patient safety. These systems, such as fluoroscopy-based image guidance ("virtual fluoroscopy") and computed tomography (CT)-based computer-guidance systems, have sensibly minimized risk of pedicle screw misplacement, with overall perforation rates ranging from between 14.3% and 9.3%, respectively."Virtual fluoroscopy" allows simultaneous two-dimensional (2D) guidance in multiple planes, but does not provide any axial images; quality of images is directly dependent on the resolution of the acquired fluoroscopic projections. Furthermore, computer-assisted surgical navigation systems decrease the reliance on intraoperative imaging, thus reducing the use of intraprocedure ionizing radiation. The major limitation of this technique is related to the variation of the position of the patient from the preoperative CT scan, usually obtained before surgery in a supine position, and the operative position (prone). The next technological evolution is the use of an intraoperative CT (iCT) scan, which would allow us to solve the position-dependent changes, granting a higher accuracy in the navigation system. 

scholarly journals Computer-Assisted Navigation Surgery in Oral and Maxillofacial Surgery

2021 ◽  
pp. 841-862
Author(s):  
Shintaro Sukegawa ◽  
Takahiro Kanno
Keyword(s):  
Maxillofacial Surgery ◽  
Computer Assisted Surgery ◽  
Oral And Maxillofacial Surgery ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Navigation Surgery ◽  
Assisted Navigation ◽  
Surgical Options ◽  
Application Of Cas ◽  
Patient Stress

AbstractComputer-assisted surgery (CAS) and navigation offers significant improvements in patient orientation and safety in every facet of our specialty of maxillofacial surgery. Ranging from precisely planned orthognathic procedures to the removal of foreign bodies requiring extremely flexible surgical options, and from minimally invasive dental implantology procedures to radical tumor resections of the skull base, they have made their mark for improving the procedure safety, predictability, and accuracy of surgery and options for intraoperative adaptations. In the future, the application of CAS is expected to further reduce operative risks and surgery time, accompanied by a considerable decrease in patient stress.Navigation systems are effective for delicate and accurate oral and maxillofacial surgery, neurosurgery, otolaryngology, and orthopedic surgery.This section presents an overview of available navigation systems and their applications with a focus on clinical utility and the solutions they offer for problems/challenges in the field of oral and maxillofacial surgery.

Computer Assisted Navigation Systems for Hip and Knee Reconstructive Surgery: Evaluation of Traditional Surgical Technique

2001 ◽  
Author(s):  
Anthony M. DiGioia ◽  
Frederic Picard ◽  
Branislav Jaramaz ◽  
David Sell ◽  
James C. Moody ◽  
...  
Keyword(s):  
Surgical Technique ◽  
Patient Outcomes ◽  
Reconstructive Surgery ◽  
Surgical Navigation ◽  
Surgical Techniques ◽  
Measurement Tool ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Assisted Navigation ◽  
Surgical Navigation System

Abstract In this paper we describe a surgical navigation system named HipNav (Hip-Navigation) for THR and KneeNav (Knee-Navigation) for TKR with an emphasis on using these systems as a real time intraoperative measurement tool (these enabling technologies are the surgical toolbox of the future). This approach will permit the direct comparison of patient outcomes with measurable surgical techniques.

scholarly journals Computer-Assisted Resection and Reconstruction of Pelvic Tumor Sarcoma

Sarcoma ◽  
2010 ◽  
Vol 2010 ◽  
pp. 1-8 ◽  
Author(s):  
Pierre-Louis Docquier ◽  
Laurent Paul ◽  
Olivier Cartiaux ◽  
Christian Delloye ◽  
Xavier Banse
Keyword(s):  
Surgical Navigation ◽  
Tumor Resection ◽  
Surgical Margin ◽  
Surgical Oncology ◽  
Tumor Location ◽  
Resection Margins ◽  
Computer Assisted ◽  
Navigation Systems ◽  
First Case ◽  
Saw Blade

Pelvic sarcoma is associated with a relatively poor prognosis, due to the difficulty in obtaining an adequate surgical margin given the complex pelvic anatomy. Magnetic resonance imaging and computerized tomography allow valuable surgical resection planning, but intraoperative localization remains hazardous. Surgical navigation systems could be of great benefit in surgical oncology, especially in difficult tumor location; however, no commercial surgical oncology software is currently available. A customized navigation software was developed and used to perform a synovial sarcoma resection and allograft reconstruction. The software permitted preoperative planning with defined target planes and intraoperative navigation with a free-hand saw blade. The allograft was cut according to the same planes. Histological examination revealed tumor-free resection margins. Allograft fitting to the pelvis of the patient was excellent and allowed stable osteosynthesis. We believe this to be the first case of combined computer-assisted tumor resection and reconstruction with an allograft.

scholarly journals Integrating a Tracking Camera in the OR Using the IEEE 11073-SDC Communication Standard

10.29007/j83k ◽  
2019 ◽  
Author(s):  
Manuel Vossel ◽  
Matías de La Fuente ◽  
Dario Wieschebrock ◽  
Okan Yilmaz ◽  
Klaus Radermacher ◽  
...  
Keyword(s):  
Navigation System ◽  
Computer Assisted Surgery ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Standard Equipment ◽  
Multiple Systems ◽  
Underlying Network ◽  
Ieee 11073 Sdc ◽  
New Applications ◽  
Ieee 11073

With the increasing spread of computer assisted surgery, more and more modern operating rooms are equipped with navigation systems, each coming with its own tracking camera. Since those cameras are part of the closed monolithic navigation system, they can’t be used for other applications than the one intended by the supplier. With the novel service oriented device connectivity standard (IEEE 11073-SDC), introduced by the OR.NET initiative (www.ornet.org), needless double procurements could be avoided and multiple systems could use the same camera that – similar to OR lights – could be installed as a standard equipment in each OR. This would decrease the cost-to-benefit ratio also of new applications that would currently as such not justify to acquire a proprietary tracking camera.While the integration of a tracking camera to an open medical device IT network can open up for new applications, it should on the other hand not impair the usability and the safety of the navigation system. Therefore, a low latency must be guaranteed between tracking camera and navigational display.This paper evaluates the integration of an atracsys fusionTrack 500 tracking camera into the OR.NETwork. The response time from a change in the real world to the reception of the corresponding data package is measured to determine the feasibility of an integra- tion without impairing current navigational tasks.The results show that, as long as the underlying network infrastructure is not at its capacity limit, latencies below 60 ms are achieved. Therefore, the integration of a tracking camera for navigational tasks is feasible.

A Simple Goniometer for Use Intra-Operatively in Total Knee Arthroplasty

2010 ◽  
Author(s):  
Kate D. Liddle ◽  
Jennifer Peter ◽  
Jovauna M. Currey ◽  
Jenni M. Buckley ◽  
William A. McGann
Keyword(s):  
Total Knee Arthroplasty ◽  
Range Of Motion ◽  
Knee Arthroplasty ◽  
Computer Assisted Surgery ◽  
Cost Effective ◽  
Knee Extension ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Important Indicator ◽  
Total Knee

Intra-operative range of motion (ROM) assessment can be challenging during total knee arthroplasty (TKA) surgery. Measurement accuracy is often compromised by patient draping and anatomy, particularly when assessing knee extension. Accurate ROM assessment is important, as ROM after total knee arthroplasty is an important indicator of clinical outcome. Computer assisted surgery has been shown to accurately determine intra-operative range of motion; however, navigation systems are costly and not readily available to many surgeons. We have developed a simple, cost-effective intraoperative device to precisely measure knee flexion and extension that is efficient and easy to use.

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