Clinical motion tracking and motion analysis during ophthalmic surgery using electromagnetic tracking system

Abstract

Abstract-To design compact and precise robotic devices for medical applications one of the most important initial steps is choosing suitable actuators. In typical situations there is a tradeoff between working volume and precision. This trade-off and decision making is more serious in micro scale operations like ophthalmic surgeries. This paper analyzes the surgeons' motion during vitreo-retinal operation under clinical circumstances. The tracking system comprises an electromagnetic system to capture the surgical tool motion in 6 DOF and a coupled camera to keep the procedure under observation for the purpose of data validation. The contribution of this paper is divided to two folds: first is the precise definition of working volume and trajectories during ophthalmic surgery for robotic design optimization. This data will be used to define the parameters of actuators such as velocity, precision and travel range in design phase and will also be utilized for validation of the robot motion in further steps. The second contribution of this paper is the experimental setup which is extendable for observation of other micromanipulation applications such as ear surgery or cell injection.

Kinematics and dynamics analysis of a hybrid parallel-serial micromanipulator designed for biomedical applications

“…for the end effector's orientation about the y-and z-axis (13) are the PCJM's angles θ a and θ b . We can now solve Eq.…”

Extracting Subtask-specific Metrics Toward Objective Assessment of Needle Insertion Skill for Hemodialysis Cannulation

“…For procedures involving needle insertion skills, however, relatively few studies exist. Some groups have developed virtual reality-based interfaces (including haptic devices) for training lumbar punctures as well as augmented reality systems for training spinal facet joint injections and ophthalmic surgery [ 9 , 14 – 16 ]. For lumbar puncture assessment, electromagnetic (EM) trackers have been used in several studies to examine the motion trajectories of needles during insertion [ 15 ].…”

A flexible head fixation for ophthalmic microsurgery

“…The exposed surfaces need to be wipe-able and offer at least a possibility for safe coverage with surgery drape and infecundity. c) The working space during the surgery [7] can Authors Affiliation: 1 Sun Yat-Sen University, School of Data and Computer Science. 2 Technische Universität München, Fakultat für Informatik.…”