A visual odometry base-tracking system for intraoperative C-arm guidance

Haliburton, Luke; Esfandiari, Hooman; Guy, Pierre; Anglin, Carolyn; Hodgson, Antony J.

doi:10.1007/s11548-020-02229-5

Cited by 7 publications

(4 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This tracking system was able to track motion using relative motion tracking and absolute position recovery algorithms. The system achieved clinically relevant accuracies and had the potential to reduce OR time and harmful radiation exposure to patients and surgical staff (21). De Silva et al reported that a virtual fluoroscopy system, utilizing three key advances, robust 3D2D registration to a preoperative CT, real-time forward projection on GPU, and a motorized mobile C-arm with encoder feedback on C-arm orientation, had the potential of reducing time and dose spent in C-arm using (22).…”

Section: Mechanical Aspectmentioning

confidence: 99%

Challenges of Using C-Arm Fluoroscopy Systems: A Mixed Method Study Investigating Orthopedic Surgeons’ Experience

Gharib,

Mohammadi,

Mohammadi

et al. 2024

JIMC

View full text Add to dashboard Cite

Background: Intraoperative fluoroscopy systems are widely used nowadays, where their use allows a shorter duration of procedure time and better anatomical localization. The current study aims to investigate the most common challenges of C-arm fluoroscopy systems application. Methods: This mixed-method study was carried out in February and March 2022. After the literature review, a qualitative study was designed using semi-structured interviews to find important themes and subthemes required to design a web survey. The web survey was completed by the Persian Orthopedic Trauma Association (POTA) event’s international presenters. Results: Nine orthopedic surgeons participated in interviews and 27 participants filled out the questionnaires. Five main themes including Physical Aspect, Mechanical Aspect, Software Options, Image Quality, and Radiation Exposure were extracted. Generally, over 80% of the web survey participants agreed that the size and shape of the base of C-arm fluoroscopy systems, C-arm diameter (space between tube and detector), and maneuvering and positioning of the C-arm fluoroscopy systems can interfere with surgical procedures. 100% of the participants agreed that providing two different views (e.g., AP and lateral) from the surgical site with one shot can be beneficial. The effectiveness of real-time visualization of radiation exposure on exposure rate was acknowledged by more than 92% of the participants. Conclusion: Although the C-arm fluoroscopy systems are widely used in surgical procedures, there are considerable issues regarding the application of this imaging modality in the operation room, and medical equipment companies should pay more attention to these issues to facilitate the use of these systems.

show abstract

Section: Mechanical Aspectmentioning

confidence: 99%

Challenges of Using C-Arm Fluoroscopy Systems: A Mixed Method Study Investigating Orthopedic Surgeons’ Experience

Gharib,

Mohammadi,

Mohammadi

et al. 2024

JIMC

View full text Add to dashboard Cite

show abstract

“…Researchers have explored the notion Perspective Chapter: Service Robots in Healthcare Settings DOI: http://dx.doi.org/10.5772/intechopen.104640 of a robotic imaging instrumentation. As an example, Haliburton et al towards a service robot for a fluoroscopy machine by demonstrating their tracking system called On-board Position Tracking for Intraoperative X-rays (OPTIX), achieved clinically relevant accuracies through the addition of a single camera [11]. The end goal for OPTIX was to reduce the number of fluoroscopic images required in an operation [11].…”

Section: Service Robots In Acute Care Settingsmentioning

confidence: 99%

“…As an example, Haliburton et al towards a service robot for a fluoroscopy machine by demonstrating their tracking system called On-board Position Tracking for Intraoperative X-rays (OPTIX), achieved clinically relevant accuracies through the addition of a single camera [11]. The end goal for OPTIX was to reduce the number of fluoroscopic images required in an operation [11]. This system is one step towards semi-autonomous and fully autonomous robotic systems.…”

Section: Service Robots In Acute Care Settingsmentioning

confidence: 99%

Perspective Chapter: Service Robots in Healthcare Settings

Singla¹,

Nguan²

2023

Biomedical Engineering

View full text Add to dashboard Cite

Robots will play a part in all aspects of healthcare. The presence of service robots in healthcare demands special attention, whether it is in the automation of menial labour, prescription distribution, or offering comfort. In this chapter, we examine the several applications of healthcare-oriented robots in the acute, ambulatory and at-home settings. We discuss the role of robotics in reducing environmental dangers, as well as at the patient’s bedside and in the operating room, in the acute setting. We examine how robotics can protect and scale up healthcare services in the ambulatory setting. Finally, in the at-home scenario, we look at how robots can be employed for both rural/remote healthcare delivery and home-based care. In addition to assessing the current state of robotics at the interface of healthcare delivery, we describe critical problems for the future where such technology will be ubiquitous. Patients, health care workers, institutions, insurance companies, and governments will realize that service robots will deliver significant benefits in the future in terms of leverage and cost savings, while maintaining or improving access, equity, and high-quality health care.

show abstract

“…Haliburton et al attach a downward-facing video camera to the C-arm base and track its position by means of visual odometry [ 13 ]. While this concept avoids many disadvantages of previous approaches and is reported to achieve clinically acceptable accuracy, its applicability to operating room floors with uniform or repetitive textures is in question.…”

Section: Introductionmentioning

confidence: 99%

RAY-POS: a LIDAR-based assistance system for intraoperative repositioning of mobile C-arms without external aids

Lukas

Völk

et al. 2022

Int J CARS

View full text Add to dashboard Cite

Purpose In current clinical practice, intraoperative repositioning of mobile C-arms is challenging due to a lack of visual cues and efficient guiding tools. This can be detrimental to the surgical workflow and lead to additional radiation burdens for both patient and personnel. To overcome this problem, we present our novel approach Lidar-based X-ray Positioning for Mobile C-arms (RAY-POS) for assisting circulating nurses during intraoperative C-arm repositioning without requiring external aids. Methods RAY-POS consists of a localization module and a graphical user interface for guiding the user back to a previously recorded C-Arm position. We conducted a systematic comparison of simultaneous localization and mapping (SLAM) algorithms using different attachment positions of light detection and ranging (LIDAR) sensors to benchmark localization performance within the operating room (OR). For two promising combinations, we conducted further end-to-end repositioning tests within a realistic OR setup. Results SLAM algorithm gmapping with a LIDAR sensor mounted 40 cm above the C-arm’s horizontal unit performed best regarding localization accuracy and long-term stability. The distribution of the repositioning error yielded an effective standard deviation of 7.61 mm. Conclusion We conclude that a proof-of-concept for LIDAR-based C-arm repositioning without external aids has been achieved. In future work, we mainly aim at extending the capabilities of our system and evaluating the usability together with clinicians.

show abstract

A visual odometry base-tracking system for intraoperative C-arm guidance

Cited by 7 publications

References 18 publications

Challenges of Using C-Arm Fluoroscopy Systems: A Mixed Method Study Investigating Orthopedic Surgeons’ Experience

Challenges of Using C-Arm Fluoroscopy Systems: A Mixed Method Study Investigating Orthopedic Surgeons’ Experience

Perspective Chapter: Service Robots in Healthcare Settings

RAY-POS: a LIDAR-based assistance system for intraoperative repositioning of mobile C-arms without external aids

Contact Info

Product

Resources

About