Ultrasound system for measuring position and orientation of laparoscopic surgery tools

Tatar, F.; Mollinger, J.R.; Bossche, A.

doi:10.1109/icsens.2003.1279090

Cited by 6 publications

(3 citation statements)

References 2 publications

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“…However, in certain MISs, such as NOTES 57,58 or single incision surgery with actuated scopes and instruments, 59,60 the current tracking setup is not sufficient due to occlusion causes in the line of sight of the optical tracking system. Additional tracking mechanisms, 61 such as electromagnetic tracking systems (e.g., Patriot TM by Polhemus), ultrasonic sensors 62,63 or mechanical arms with inbuilt gimbal mechanism 64 need to be integrated with the tele-mentoring framework. This will assist to track (a) poses of the camera and (b) positions of the incision points or even the poses from where instruments exist flexible endo-luminal cannulas inside the patient's body.…”

Section: Discussionmentioning

confidence: 99%

Towards development of a tele‐mentoring framework for minimally invasive surgeries

Shabir

Abdurahiman

Padhan

et al. 2021

Robotics Computer Surgery

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Background: Tele-mentoring facilitates the transfer of surgical knowledge. The objective of this work is to develop a tele-mentoring framework that enables a specialist surgeon to mentor an operating surgeon by transferring information in a form of surgical instruments' motion required during a minimally invasive surgery. Method:A tele-mentoring framework is developed to transfer video stream of the surgical field, poses of the scope and port placement from the operating room to a remote location. From the remote location, the motion of virtual surgical instruments augmented onto the surgical field is sent to the operating room. Results:The proposed framework is suitable to be integrated with laparoscopic as well as robotic surgeries. It takes on average 1.56 s to send information from the operating room to the remote location and 0.089 s for vice versa over a local area network. Conclusions:The work demonstrates a tele-mentoring framework that enables a specialist surgeon to mentor an operating surgeon during a minimally invasive surgery. K E Y W O R D Saugmented reality, minimally invasive surgeries, tele-mentoring, telemedicine | INTRODUCTIONAs surgery has evolved from open to minimally invasive, the framework of tele-mentoring technologies has largely remained the same. [1][2][3] It still involves basic exchange of audio and annotated video messages, and lacks augmentation of information pertaining to surgical tool motion and tool-tissue interaction. 4,5 In an operating room setup of minimally invasive surgery (MIS), the surgeon operates on a patient using surgical instruments inserted through small incisions. These surgical instruments can either be manually operated (such as laparoscopic instruments) or robotically actuated.Along with instruments, a scope (camera) is also inserted inside the patient's body to visualise the interaction of surgical instruments' tooltips with the tissue. In the case of manual MIS, the surgeon This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.

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Section: Discussionmentioning

confidence: 99%

Towards development of a tele‐mentoring framework for minimally invasive surgeries

Shabir

Abdurahiman

Padhan

et al. 2021

Robotics Computer Surgery

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“…Ultrasonic methods can track instrument positions to submillimetre accuracy [13], but require expensive equipment and would not be suitable for any operations that use ultrasound imaging. This approach has not been applied to derive laparoscopic performance metrics.…”

Section: Related Workmentioning

confidence: 99%

Demonstration Paper

Evans

Partridge

Arvind

2014

Proceedings of the Wireless Health 2014 on National Institutes of Health

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A novel approach, using wireless inertial sensors (the Orient specks), is presented for the automated assessment of surgical skills in a physical laparoscopic ('keyhole') surgery simulator. Performance metrics are applied to inertial data from subjects categorized by previous laparoscopic experience: novices (less than 2 months); intermediates (less than 2 years) and experts (6 to 10 years of active laparoscopic operating experience). These metrics are shown to distinguish between groups, demonstrating 'construct validity' of the system. The method is evaluated against an optical instrument tracking system and compares favourably, thus demonstrating 'concurrent validity' with an existing method. Our findings suggest that a combination of the proposed metrics can be used to generate a 'technical performance score' for a given laparoscopic simulated task. This has the potential to help guide surgical training and monitoring of surgical performance.

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“…To estimate the position and orientation between two objects is an important technique, which can be widely applied in the fields as robot navigation [1] , surgery [2] , human motion estimate [3] , and electro-optic aiming system [4,5] , etc. Compared with the magnetic position and orientation measurement method [6,7] , the machine vision method which is free from the influence of the electromagnetic surroundings, is widely studied [8−10] .…”

mentioning

confidence: 99%

单目视觉姿态测量方法的研究

et al. 2010

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In order to estimate the position and orientation of an object with a single camera, a novel measurement method based on pinhole camera model with five reference points is presented. Taking the specially designed planar target with the monocular vision system, the projection line of the reference points is built. According to the projection model, the coordinates of the reference points in the camera coordinate system are estimated with the least-squares algorithm. Thus the position and orientation of the target are worked out. Experimental result shows that the measurement precision of angle is less than 0.2 • , and that of displacement is less than 0.1 mm.

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Ultrasound system for measuring position and orientation of laparoscopic surgery tools

Cited by 6 publications

References 2 publications

Towards development of a tele‐mentoring framework for minimally invasive surgeries

Towards development of a tele‐mentoring framework for minimally invasive surgeries

Demonstration Paper

单目视觉姿态测量方法的研究

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