Acquisition of arm and instrument movements during laparoscopic interventions

Abstract

Knowledge about the motion of a surgeon's or a surgical assistant's manipulations can support ergonomic assessments as well as the design of computer and robot-assisted technologies. In this study the electromagnetic position tracking system miniBIRD (Ascension Technology Corporation, Burlington, VT, USA) was evaluated for the use of surgical movement acquisition. After presenting the influence of noise and the linear and angular accuracy, the system was applied to measure the kinematics of a surgical assistant moving an endoscope during a laparoscopic cholecystectomy. We conclude that the quality of the system is satisfactory for this kind of task, as long as the markers remain within a relatively small range of movement.

Intelligent Laparoscopic Assistant Robot through Surgery Task Model: How to Give Intelligence to Medical Robots

“…The range of this in/out motion is in accordance with the result reported by Riener et al using an electromagnetic position sensor (Riener et al, 2003). Based on this observation of the necessary workspace, we have developed a laparoscopic assistant robot that can cover the full range of view required for human cholecystectomy.…”

In vivo kinematic measurement during laparoscopic cholecystectomy

“…It consists of one transmitter that produces a DC electromagnetic field, four receivers (here called ''sensors''), and four electronic units. The feasibility of the system for the requirements of this study was tested in a preliminary study [10]. Other studies that achieved similar results [3,6] were also compared.…”

“…The results of the study are presented here. The evaluation and validation of the measuring system itself under laboratory and operating theater conditions was performed within a prestudy [10].In general, different methods are used to measure positions and movements. Different commercial systems are available, based on light, acoustic, or electromagnetic signals.…”

“…The results of the study are presented here. The evaluation and validation of the measuring system itself under laboratory and operating theater conditions was performed within a prestudy [10].…”

Increasing Accuracy in Image-Guided Robotic Surgery Through Tip Tracking and Model-Based Flexion Correction

“…Measuring the tip position using computer vision techniques [25]- [31] or electromagnetic sensors [32]- [35] bypasses the invalid forward kinematics, but such measurements do not directly reduce errors in the inverse kinematics. Metrics have been developed to evaluate the convergence properties of controllers that use tip tracking with incorrect inverse kinematics, but metrics alone do not reduce the motion errors [36]- [38].…”