Development of an optical tracking system for a novel flexible and soft manipulator with controllable stiffness for minimal invasive surgery (MIS)

2017 ◽  
Vol 84 (1) ◽  
Author(s):  
Erwin Gerz ◽  
Matthias Mende ◽  
Hubert Roth
Keyword(s):  
Invasive Surgery ◽  
Minimal Invasive Surgery ◽  
Tracking System ◽  
Minimal Invasive ◽  
Optical Tracking ◽  
Robot Arm ◽  
Flexible Robot ◽  
Optical Tracking System ◽  
New Challenges ◽  
Soft Manipulator

AbstractThe use of new soft robots in minimally invasive surgery offers exciting new possibilities while it generates new challenges for the technical implementation. In this article, two methods for the detection of a soft flexible robot arm are presented. Based on the image information of an endoscopic camera, the visible sections are evaluated to determine the position of the robot. Both methods have been integrated and tested in the newly developed system.

A Robot Arm and Image-Guided Navigation Assisted Surgical System for Maxillary Repositioning in Orthognathic Surgery: A Phantom Skull-Based Trial

2020 ◽  
Vol 10 (4) ◽  
pp. 1549
Author(s):  
Jeong Joon Han ◽  
Sang-Yoon Woo ◽  
Won-Jin Yi ◽  
Soon Jung Hwang
Keyword(s):  
Orthognathic Surgery ◽  
Tracking System ◽  
Optical Tracking ◽  
Robot Arm ◽  
Optical Tracking System ◽  
End Effector ◽  
Image Guided ◽  
Bone Segment ◽  
Significant Difference ◽  
Surgical System

This study aimed to present a simplified and safe method to reposition the bone segment with easy identification and removing bone interference using a robot arm and image-guided navigation and to assess the accuracy for maxillary orthognathic surgery on phantom skulls. A surgical system consists of a robot arm with specialized end-effector, and image-guided navigation including the optical tracking system. The end-effector was designed to reflect the surgical procedures including identification and removal of bone interference and repositioning of the bone segment. To evaluate the handling and accuracy of this system, 10 phantom-based experiments were conducted according to four surgical plans. Mean absolute deviations at the upper central incisor were 0.10 ± 0.15 mm medio-laterally, 0.05 ± 0.07 mm antero-posteriorly, and 0.12 ± 0.15 mm supero-inferiorly. There was no significant difference in deviations between anterior and posterior regions of the maxilla. The mean root mean square deviation was 0.18 ± 0.16 mm, and ranged from 0.05 mm to 0.54 mm. The robot arm and image-guided navigation assisted surgical system would be helpful to manage bone interferences and reposition bone segments with improved accuracy. Though further technological advances are necessary, this study may provide a basis for developing clinically applicable robot assisted system for orthognathic surgery.

Minimal invasive surgery for intracardiac tumors – report of 19 consecutive patients

2010 ◽  
Vol 58 (S 01) ◽  
Author(s):  
T Bossert ◽  
P Krieg ◽  
T Sandhaus ◽  
P Kley-Madaus ◽  
K Hekmat
Keyword(s):  
Invasive Surgery ◽  
Minimal Invasive Surgery ◽  
Minimal Invasive ◽  
Intracardiac Tumors

scholarly journals Head Stabilization during Minimal Invasive Surgery Tasks: An Uncontrolled Manifold Analysis

2015 ◽  
Vol 3 ◽  
pp. 1434-1441
Author(s):  
Kostas Gianikellis ◽  
Francisco M. Sánchez-Margallo ◽  
Andreas Skiadopoulos ◽  
Juan A. Sánchez-Margallo ◽  
Javier Hermoso de Mendoza Aranda
Keyword(s):  
Invasive Surgery ◽  
Minimal Invasive Surgery ◽  
Minimal Invasive ◽  
Uncontrolled Manifold ◽  
Head Stabilization ◽  
Uncontrolled Manifold Analysis

457: Combinated Peroneal and Tibial Block for Hallux Valgus Minimal Invasive Surgery

2008 ◽  
Vol 33 (5) ◽  
pp. e107-e107
Author(s):  
C GRACIA ◽  
J MASDEU ◽  
A LARRUY ◽  
J SANTOS ◽  
L BLANCO ◽  
...  
Keyword(s):  
Hallux Valgus ◽  
Invasive Surgery ◽  
Minimal Invasive Surgery ◽  
Minimal Invasive

scholarly journals In Vitro and In Vivo Assessment of a New Workflow for the Acquisition of Mandibular Kinematics Based on Portable Tracking System with Passive Optical Reflective Markers

2021 ◽  
Vol 11 (9) ◽  
pp. 3947
Author(s):  
Marco Farronato ◽  
Gianluca M. Tartaglia ◽  
Cinzia Maspero ◽  
Luigi M. Gallo ◽  
Vera Colombo
Keyword(s):  
Measurement Error ◽  
Tracking System ◽  
Intraclass Correlation ◽  
Optical Tracking ◽  
Optical Tracking System ◽  
Rater Reliability ◽  
Tracking Device ◽  
Mandibular Kinematics

Clinical use of portable optical tracking system in dentistry could improve the analysis of mandibular movements for diagnostic and therapeutic purposes. A new workflow for the acquisition of mandibular kinematics was developed. Reproducibility of measurements was tested in vitro and intra- and inter-rater repeatability were assessed in vivo in healthy volunteers. Prescribed repeated movements (n = 10) in three perpendicular directions of the tracking-device coordinate system were performed. Measurement error and coefficient of variation (CV) among repetitions were determined. Mandibular kinematics of maximum opening, left and right laterality, protrusion and retrusion of five healthy subjects were recorded in separate sessions by three different operators. Obtained records were blindly examined by three observers. Intraclass correlation coefficient (ICC) was calculated to estimate inter-rater and intra-rater reliability. Maximum in vitro measurement error was 0.54 mm and CV = 0.02. Overall, excellent intra-rater reliability (ICC > 0.90) for each variable, general excellent intra-rater reliability (ICC = 1.00) for all variables, and good reliability (ICC > 0.75) for inter-rater tests were obtained. A lower score was obtained for retrusion with “moderate reliability” (ICC = 0.557) in the inter-rater tests. Excellent repeatability and reliability in optical tracking of primary movements were observed using the tested portable tracking device and the developed workflow.

scholarly journals High Precision Optical Tracking System Based on near Infrared Trinocular Stereo Vision

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2528
Author(s):  
Songlin Bi ◽  
Yonggang Gu ◽  
Jiaqi Zou ◽  
Lianpo Wang ◽  
Chao Zhai ◽  
...  
Keyword(s):  
High Precision ◽  
Stereo Vision ◽  
Near Infrared ◽  
Nearest Neighbor ◽  
Tracking System ◽  
Optical Tracking ◽  
Tracking Accuracy ◽  
Optical Tracking System ◽  
Dynamic Tracking ◽  
Trinocular Stereo

A high precision optical tracking system (OTS) based on near infrared (NIR) trinocular stereo vision (TSV) is presented in this paper. Compared with the traditional OTS on the basis of binocular stereo vision (BSV), hardware and software are improved. In the hardware aspect, a NIR TSV platform is built, and a new active tool is designed. Imaging markers of the tool are uniform and complete with large measurement angle (>60°). In the software aspect, the deployment of extra camera brings high computational complexity. To reduce the computational burden, a fast nearest neighbor feature point extraction algorithm (FNNF) is proposed. The proposed method increases the speed of feature points extraction by hundreds of times over the traditional pixel-by-pixel searching method. The modified NIR multi-camera calibration method and 3D reconstruction algorithm further improve the tracking accuracy. Experimental results show that the calibration accuracy of the NIR camera can reach 0.02%, positioning accuracy of markers can reach 0.0240 mm, and dynamic tracking accuracy can reach 0.0938 mm. OTS can be adopted in high-precision dynamic tracking.

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