Optical surgical instrument tracking system based on the principle of stereo vision

Zhou, Zhentian; Wu, Bo; Duan, Juan; Zhang, Xu; Zhang, Nan; Liang, Zhiyuan

doi:10.1117/1.jbo.22.6.065005

Cited by 45 publications

(21 citation statements)

References 11 publications

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“…The tracking systems applied in most commercial navigation equipment is the active optical tracking system[ 18 - 20 ]. The active optical tracking system is superior to other methods, such as electromagnetic tracking systems, but it is expensive and inconvenient for further development[ 19 ]. Our team has recently designed an optical tracking method based on binocular stereo vision with a high-resolution ratio and low cost.…”

Section: Discussionmentioning

confidence: 99%

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Wang¹,

Han²,

Luo³

et al. 2020

WJCC

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BACKGROUND Medical robot is a promising surgical tool, but no specific one has been designed for interventional treatment of chronic pain. We developed a computed tomography-image based navigation robot using a new registration method with binocular vision. This kind of robot is appropriate for minimal invasive interventional procedures and easy to operate. The feasibility, accuracy and stability of this new robot need to be tested. AIM To assess quantitatively the feasibility, accuracy and stability of the binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures. METHODS A box model was designed for assessing the accuracy for targets at different distances. Nine (three sets) lead spheres were embedded in the model as puncture goals. The entry-to-target distances were set 50 mm (short-distance), 100 mm (medium-distance) and 150 mm (long-distance). Puncture procedure was repeated three times for each goal. The Euclidian error of each puncture was calculated and statistically analyzed. Three head phantoms were used to explore the clinical feasibility and stability. Three independent operators conducted foramen ovale placement on head phantoms (both sides) by freehand or under the guidance of robot (18 punctures with each method). The operation time, adjustment time and one-time success rate were recorded, and the two guidance methods were compared. RESULTS On the box model, the mean puncture errors of navigation robot were 1.7 ± 0.9 mm for the short-distance target, 2.4 ± 1.0 mm for the moderate target and 4.4 ± 1.4 mm for the long-distance target. On the head phantom, no obvious differences in operation time and adjustment time were found among the three performers ( P > 0.05). The median adjustment time was significantly less under the guidance of the robot than under free hand. The one-time success rate was significantly higher with the robot ( P < 0.05). There was no obvious difference in operation time between the two methods ( P > 0.05). CONCLUSION In the laboratory environment, accuracy of binocular-stereo-vision-based navigation robot is acceptable for target at 100 mm depth or less. Compared with freehand, foramen ovale placement accuracy can be improved with robot guidance.

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Section: Discussionmentioning

confidence: 99%

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Wang¹,

Han²,

Luo³

et al. 2020

WJCC

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“…Tracking the 6DoF pose of the rigid object in real-time is a central ingredient in the interaction design of MR-based systems with numerous applications in robotics, video games, medical navigation and human computer interaction (HCI) [9,13,15,19,27,33]. Existing state-of-art solutions commonly require the combination of various electronic sensors, such as infrared sensors, inertial measurement units, magnetic sensors, acoustic sensors and depth sensors.…”

Section: Introductionmentioning

confidence: 99%

TsFPS

Xiang

Yang

Zhang

2021

Proceedings of the 29th ACM International Conference on Multimedia

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We present a vision-based system for real-time pose tracking of the rigid object, it can not only estimate a single pose in six degrees of freedom (6DoF), but also suitable for recovering compound movements. The system is comprised of a monocular camera, and a series of 3D printed platonic solids with squared fiducial markers attached on each single face, which is easy to setup and extend, extra cameras are allowed to incorporate into the pipeline for meeting different requirements. The system realizes object tracking by estimating the pose of the fiducial platonic solid (FPS) which can be fixed onto the surface of the target object. Different sizes and shapes of the platonic solids are allowed to combine with each other to adapt to different application scenarios, this strategy provides enormous flexibility and applicability to our system. In order to track the motion of the fiducial platonic solid accurately, a robust algorithm that combines the fiducial constraint and the statistical constraint is introduced, which is able to handle illumination changes, motion blur and partial occlusion. We evaluate the performance of the proposed approach with qualitative and quantitative experiments, in addition, a couple of mixed reality (MR) applications are developed for demonstrating the effectiveness of the system. CCS CONCEPTS• Human-centered computing → Mixed / augmented reality; User interface toolkits; • Software and its engineering → Software libraries and repositories.

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“…Approaches to estimate the needle pose include optical [8], [9] and electromagnetic tracking [10]. Furthermore, image guidance by e.g.…”

Section: Introductionmentioning

confidence: 99%

Rupture Detection During Needle Insertion Using Complex OCT Data and CNNs

Latus

Sprenger

Neidhardt

et al. 2021

IEEE Trans. Biomed. Eng.

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Soft tissue deformation and ruptures complicate needle placement. However, ruptures at tissue interfaces also contain information which helps physicians to navigate through different layers. This navigation task can be challenging, whenever ultrasound (US) image guidance is hard to align and externally sensed forces are superimposed by friction. Methods: We propose an experimental setup for reproducible needle insertions, applying optical coherence tomography (OCT) directly at the needle tip as well as external US and force measurements. Processing the complex OCT data is challenging as the penetration depth is limited and the data can be difficult to interpret. Using a machine learning approach, we show that ruptures can be detected in the complex OCT data without additional external guidance or measurements after training with multi-modal ground-truth from US and force. Results: We can detect ruptures with accuracies of 0.94 and 0.91 on homogeneous and inhomogeneous phantoms, respectively, and 0.71 for ex-situ tissues. Conclusion: We propose an experimental setup and deep learning based rupture detection for the complex OCT data in front of the needle tip, even in deeper tissue structures without the need for US or force sensor guiding. Significance: This study promises a suitable approach to complement a robust robotic needle placement.

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Optical surgical instrument tracking system based on the principle of stereo vision

Cited by 45 publications

References 11 publications

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

Accuracy study of a binocular-stereo-vision-based navigation robot for minimally invasive interventional procedures

TsFPS

Rupture Detection During Needle Insertion Using Complex OCT Data and CNNs

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