Microscale Tracking of Surgical Instrument Motion

Riviere, Cameron N.; Khosla, Pradeep K.

doi:10.1007/10704282_117

Cited by 9 publications

(6 citation statements)

References 9 publications

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“…It should be noted that commonly-used optical band-pass filters which are used in [20][21] to reduce disturbance light intensity are not employed in this system. The main reason for not employing the band-pass filters is that they also reduce the IR light intensity striking the PSDs, resulting in poor signal and hence poor resolution.…”

Section: System Descriptionmentioning

confidence: 99%

“…To address the above issues, motion sensing systems which can sense microsurgical instrument motion in micro scale are developed based on a passive tracking method [20][21][22], or an active tracking method [23][24][25]. Although systems based on active tracking method (active tracking systems) can provide high resolution due to high intensity light reception at the sensors, the light sources have to be fixed on the instrument to be tracked, requiring electronics and wires on the instrument.…”

Section: Introductionmentioning

confidence: 99%

“…The overall nonlinearity is the combination of distortion effects from the lenses and PSDs. Passive tracking systems described in [20][21] do not take care of nonlinearity and ambient light effects. Accuracies of the systems at different tilt orientations of the instrument are not investigated nor described although they can be affected by different tilt orientations due to incomplete absorption of IR light by the non-reflective instrument shaft.…”

Section: Introductionmentioning

confidence: 99%

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A micro motion sensing system for micromanipulation tasks

Latt

Tan

Georgiou

et al. 2012

Sensors and Actuators A: Physical

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An optical-based motion sensing system has been developed for real-time sensing of instrument motion in micromanipulation. The main components of the system consist of a pair of position sensitive detectors (PSD), lenses, an infrared (IR) diode that illuminates the workspace of the system, a non-reflective intraocular shaft, and a white reflective ball attached at the end of the shaft. The system calculates 3D displacement of the ball inside the workspace using the centroid position of the IR rays that are reflected from the ball and strike the PSDs. In order to eliminate inherent nonlinearity of the system, calibration using a feedforward neural network is proposed and presented. Handling of different ambient light and environment light conditions not to affect the system accuracy is described. Analyses of the whole optical system and effect of instrument orientation on the system accuracy are presented. Sensing resolution, dynamic accuracies at a few different frequencies, and static accuracies at a few different orientations of the instrument are reported. The system and the analyses are useful in assessing performance of hand-held microsurgical instruments and operator performance in micromanipulation tasks.

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Section: System Descriptionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A micro motion sensing system for micromanipulation tasks

Latt

Tan

Georgiou

et al. 2012

Sensors and Actuators A: Physical

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“…Riviere et al 44 described a device for microscale tracking of the motion of surgical instruments. Although potentially valuable in the assessment and training of microsurgeons and in accuracy enhancement of robotic devices and active hand held instruments, it is not yet validated.…”

Section: Training In Vrmentioning

confidence: 99%

Training of microsurgical skills on nonliving models

Ilie

Dobreanu

et al. 2008

Microsurgery

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Although direct exposure to procedures in the operating theater environment, together with practice on laboratory animals, is still seen as the gold standard of teaching in microsurgery, practice on nonliving simulators is currently being validated as an important educational tool. We reviewed the widely used nonliving training models, together with currently accepted innovations, which are parts of curricula of training courses in microsurgery. Using the experience accumulated in training programs at the Centre for Simulation and Training in Surgery, we identified which particular skills can be reliably targeted by each nonliving tissue exercise. We were able to find five groups of nonliving training models: basic manipulation, knot-tying principles, completing the anastomosis, the real tissue experience, and training in virtual reality. The more abstract models might seem quite far from the real life experience, but they each closely address specific skills. It thus becomes convenient for the instructor to train these skills separately. This generates series of consistently favorable results once the skills are integrated into a more complex procedure. Focused exercises, once assembled in continuity, reconstruct the real life scenario. The training program can comprise a series of increasingly difficult exercises, which mirror the real life situations. Performance on nonliving models in each progressively more challenging exercise can be assessed via direct observation, assisted by clear and objective criteria. Finally, focused training will help both the transition to human surgery and replication of the favorable results to large series of subjects.

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“…To address the above issues, Riviere, C.N et al developed ASAP (Apparatus to Sense Accuracy of Position) and MADRID (Measurement Apparatus to Distinguish Rotational and Irrotational Displacement) [7][8][9] systems to track microsurgical instrument motion in micro-scale. PSDs and lenses formed the main components of these systems whereby the accuracy is limited by nonlinearity inherent in PSDs and lenses.…”

Section: Introductionmentioning

confidence: 99%

Design and Calibration of an Optical Micro Motion Sensing System for Micromanipulation Tasks

Win

Tan

Shee

et al. 2007

Proceedings 2007 IEEE International Conference on Robotics and Automation

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An optical sensing system has been developed using a pair of orthogonally placed position sensitive detectors (PSD) to track 3D displacement of a microsurgical instrument tip in real-time. An infrared (IR) diode is used to illuminate the workspace. A ball is attached to the tip of an intraocular shaft to reflect IR rays onto the PSDs. Instrument tip position is then calculated from the centroid positions of reflected IR light on the respective PSDs. The system can be used to assess the accuracy of hand-held microsurgical instruments and operator performance in micromanipulation tasks, such as microsurgeries. In order to eliminate inherent nonlinearity of the PSDs and lenses, calibration is performed using a feedforward neural network. After calibration, percentage RMS error is reduced from about 5.46 % to about 0.16%. The system RMS noise is about 0.7 µm. The sampling rate of the system is 250 Hz.

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Microscale Tracking of Surgical Instrument Motion

Cited by 9 publications

References 9 publications

A micro motion sensing system for micromanipulation tasks

A micro motion sensing system for micromanipulation tasks

Training of microsurgical skills on nonliving models

Design and Calibration of an Optical Micro Motion Sensing System for Micromanipulation Tasks

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