Effective calibration of an endoscope to an optical tracking system for medical augmented reality

Lee, Seongpung; Lee, Hyunki; Choi, Hye Sook; Jeon, Sangseo; Hong, Jin

doi:10.1080/23311916.2017.1359955

Cited by 18 publications

(13 citation statements)

References 25 publications

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“…In order to improve both accuracy and reliability of the hand-eye camera calibration, instead of using Equation ( 1), the authors of this study implemented a multiple posed (N-posed) hand-eye camera calibration, based on Lee et al [13]. In order to extend the set of equation for multiple (N) poses, we can rewrite Equation (1) as follows: (2)…”

Section: Background Methodologymentioning

confidence: 99%

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Influence of sampling accuracy on augmented reality for laparoscopic image-guided surgery

Teatini

Frutos

Eigl

et al. 2020

Minimally Invasive Therapy & Allied Technologies

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Purpose: This study aims to evaluate the accuracy of point-based registration (PBR) when used for augmented reality (AR) in laparoscopic liver resection surgery. Material and methods: The study was conducted in three different scenarios in which the accuracy of sampling targets for PBR decreases: using an assessment phantom with machined divot holes, a patient-specific liver phantom with markers visible in computed tomography (CT) scans and in vivo, relying on the surgeon's anatomical understanding to perform annotations. Target registration error (TRE) and fiducial registration error (FRE) were computed using five randomly selected positions for image-to-patient registration. Results: AR with intra-operative CT scanning showed a mean TRE of 6.9 mm for the machined phantom, 7.9 mm for the patient-specific phantom and 13.4 mm in the in vivo study. Conclusions: AR showed an increase in both TRE and FRE throughout the experimental studies, proving that AR is not robust to the sampling accuracy of the targets used to compute imageto-patient registration. Moreover, an influence of the size of the volume to be register was observed. Hence, it is advisable to reduce both errors due to annotations and the size of registration volumes, which can cause large errors in AR systems.

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Section: Background Methodologymentioning

confidence: 99%

“…More information regarding the accuracy and theory of the algorithms is available from studies by Lee et al [13] and Lai and Shan [14].…”

Section: Background Methodologymentioning

confidence: 99%

Influence of sampling accuracy on augmented reality for laparoscopic image-guided surgery

Teatini

Frutos

Eigl

et al. 2020

Minimally Invasive Therapy & Allied Technologies

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“…Accelerometers and IMU (inertial measurement unit) with three axis gyro sensors were used in these works to determine the acceleration. OTS systems were also applied to ascertain the trajectory during various operations [ 12 , 13 , 14 ]. The disadvantages of IMU systems include low accuracy and drift error (DC bias).…”

Section: Literature Reviewmentioning

confidence: 99%

Specifying Inputs for the Computational Structure of a Surgical System via Optical Method and DLT Algorithm Based on In Vitro Experiments on Cardiovascular Tissue in Minimally Invasive and Robotic Surgery

Ilewicz

Ładyżyńska-Kozdraś

2022

Sensors

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With the application of four optical CMOS sensors, it was possible to capture the trajectory of an endoscopic tool during an in vitro surgical experiment on a cardiovascular preparation. This was due to the possibility of obtaining a path when a reflective marker was attached. In the work, APAS (Ariel Performance Analysis System) software and DLT (direct linear transformation) algorithm were used. This made it possible to acquire kinematic inputs to the computational model of dynamics, which enabled, regardless of the type of surgical robot structure, derivation of the analogous motion of an endoscopic effector due to the mathematical transformation of the trajectory to joints coordinates. Experiments were carried out with the participation of a practiced cardiac surgeon employing classic endoscopic instruments and robot surgical systems. The results indicated by the experiment showed that the inverse task of kinematics of position for the surgical robot with RCM (remote center of motion) structure was solved. The achieved results from the experiment were used as inputs for deriving a numerical dynamics model of surgical robot during transient states that was obtained by applying the finite element method and by driving dynamics moments acquired through the block diagrams method using a steering system with DC (direct current) motor and PID (proportional–integral–derivative) controller. The results section illustrates the course of kinematic values of endoscopic tools which were employed to apply numerical models as inputs, the course of the driving torque of the model of the surgical robot that enabled the selection of the drive system and the strength values, stresses and displacements according to von Mises hypothesis in its structure during the analysis of transient states that made it possible to establish the strength safety of the surgical robot. For the conducted experiments, the accuracy was ± 2 [mm]. In the paper, the employment of optical CMOS sensors in surgical robotics and endoscopy is discussed. The paper concludes that the usage of optical sensors for determining inputs for numerical models of dynamics of surgical robots provides the basis for setting the course of physical quantities that appear in their real object structure, in manners close to reality.

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“…Medical endoscope is an important surgical equipment for minimally invasive treatment technology, which has the advantages of small trauma, short operation time and quick postoperative recovery and plays an important role in surgery and operation [1][2][3][4]. For a long time, imported medical endoscopes have been more favorable due to perceived higher variety, better quality, more advanced technology and better service.…”

Section: Introductionmentioning

confidence: 99%

Model construction of medical endoscope service evaluation system-based on the analysis of Delphi method

Zheng

Lou

Xie

et al. 2020

BMC Health Serv Res

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Background: Medical endoscope is widely used in clinical practice for the purpose of diagnosis and treatment, occupying around 5% of the medical device market. Evaluating the true service level of medical endoscope is essential and necessary to improve overall performance of medical diagnosis and treatment, and to maintain competitiveness of endoscope manufacturers, however, such a tool is not available in the market. This study develops an Evaluation Index System (EIS) to assess service level of medical endoscope, and to provide suggestions for improving the service level through the Delphi method. Methods: Firstly, the possible factors influencing the service level were identified from literature review. In parallel, the Delphi expert method questionnaire was designed and 25 experts were invited to conduct three rounds of questionnaire, to evaluate and rate the possible factors. Finally, we determined the weights associated with the factors, using the analytic hierarchy process (AHP) and percentage method, and developed the service level EIS. Results: The EIS consists of 3 first-level indicators, 24 s-level indicators and 68 third-level indicators. According to the weights computed using AHP, first-level indicators are ranked as post-sale (0.62), in-sale (0.25) and presale (0.13). Through case verification, the medical endoscope brand Olympus had a total score of 4.17, Shanghai Aohua had a total score of 3.71, and Shanghai Chengyun had a total score of 3.28, which matches its market popularity and ranking in terms of market share. The results obtained from the EIS are consistent with the reality. Conclusions: The EIS established in this study is comprehensive, reliable and reasonable with strong practicality. The EIS can act as a tool for the endoscope users to evaluate potential products and make informed choices. It also provides a measurable basis for endoscope manufacturers and service providers to improve service quality.

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Effective calibration of an endoscope to an optical tracking system for medical augmented reality

Cited by 18 publications

References 25 publications

Influence of sampling accuracy on augmented reality for laparoscopic image-guided surgery

Influence of sampling accuracy on augmented reality for laparoscopic image-guided surgery

Specifying Inputs for the Computational Structure of a Surgical System via Optical Method and DLT Algorithm Based on In Vitro Experiments on Cardiovascular Tissue in Minimally Invasive and Robotic Surgery

Model construction of medical endoscope service evaluation system-based on the analysis of Delphi method

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