Vision solution for an assisted puncture robotics system positioning

Jiang, Guanwu; Luo, Minzhou; Lu, Lijuan; Bai, Keqiang; Abdelaziz, Omar; Chen, Saixuan

doi:10.1364/ao.57.008385

Cited by 7 publications

(2 citation statements)

References 15 publications

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“…Black round labels were used as markers pasted on the skin of operation region and the robot arm. The three-dimensional location of label center can be recognized by the ZED binocular camera for registration and tracking[ 16 ]. The error of this tracking method was evaluated in our previous study.…”

Section: Discussionmentioning

confidence: 99%

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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%

“…Our team proposes a new registration method using skin tracking markers and binocular vision[ 16 ]. The markers just need to be pasted on the skin of the operation region, avoiding extra radiation of the nonsurgical region.…”

Section: Introductionmentioning

confidence: 99%