A System for Visualizing and Assessing Electromagnetic Tracking Error during Computer-­‐assisted Surgery

2018 ◽  
Author(s):  
Vinyas Harish
Keyword(s):  
Open Source ◽  
Real Time ◽  
Random Noise ◽  
Tracking Error ◽  
Computer Assisted Surgery ◽  
Ground Truth ◽  
Optical Tracking ◽  
Computer Assisted ◽  
Electromagnetic Tracking ◽  
Surgical Equipment

PURPOSE: Electromagnetic tracking is used in image-­‐guided interventions to monitor the position of surgical equipment. However, it is prone to error. During navigation procedures, the measurement and visualization of error should take place to ensure precision and accuracy. Our goal was to extend open-­‐source software such that no programming from the user is needed for error monitoring.   METHODS: The electromagnetic tracking error was defined as the difference in position readings of a surgical stylus that was optically and electromagnetically tracked. The optical tracking reading was considered ground truth as it is unaffected by metal objects. The stylus was moved freehandedly within a region of interest to quickly sample electromagnetic tracking error, including error caused by field-­‐distortion inducing ferromagnetic materials and random noise. All tracked devices were used in a plug-­‐and-­‐play manner. Measurements were visualized in real-­‐time in 3D Slicer, an open-­‐ source platform for medical image computing (www.slicer.org).   RESULTS: To determine the reproducibility of the data collected by our system, the tracking error was measured in regions of interest representing a surgeon’s workspace. Tests were done with and without metal objects placed in the workspace. A quick freehand sampling procedure was sufficient to detect error. Freehand measurements within a controlled environment reported distortion values of 1.16 mm (STD 0.71 mm). Measurements taken with a metal rod and parts from a surgical retractor kit were 4.27 mm (STD 2.92 mm) and 8.26 mm (STD 2.08 mm), respectively.   CONCLUSION: Our system shows promise for the real-­‐time visualization of electromagnetic tracking error during computer-­‐assisted surgical procedures

scholarly journals Optical and electromagnetic tracking for navigated surgery of the sinuses and frontal skull base

2011 ◽  
Vol 49 (3) ◽  
pp. 364-368
Author(s):  
F. Kral ◽  
E.J. Puschban ◽  
H. Reichelmann ◽  
F. Pedross ◽  
W. Freysinger
Keyword(s):  
Skull Base ◽  
Skull Base Surgery ◽  
Target Position ◽  
Computer Assisted Surgery ◽  
Optical Tracking ◽  
Computer Assisted ◽  
Electromagnetic Tracking ◽  
Software Environment ◽  
Titanium Screws ◽  
Frontal Skull Base

BACKGROUND: New hardware and software algorithms in electromagnetic tracking for computer assisted surgery (CAS) have been developed. We aimed to compare electromagnetic tracking for navigated procedures in frontal skull base surgery to optical tracking. METHODS: Target registration error (TRE) was determined in 6 anatomic specimens in an experimental wet-lab. As targets, 6 titanium screws were evenly distributed over the surgical areas of interest from the frontal sinus to the clivus. Optical tracking and electromagnetic tracking was evaluated in identical software environment using a last generation commercially available navigation system. RESULTS: Submillimetric application accuracy could be achieved with both tracking modalities. Optical was more accurate than electromagnetic tracking and its reliability was better. Target position did not influence TRE, however TRE varied significantly from skull to skull. CONCLUSIONS: Although less accurate than optical tracking, electromagnetic tracking still offers excellent accuracy and reliability for anterior skull base surgery. Electromagnetic tracking is not dependent on direct line of sight between its hardware components and therefore easily integrated even in cluttered operating theatres.

scholarly journals Extending MITK by a real-time online video overlay navigation system for minimally invasive surgery

2010 ◽  
Author(s):  
Matthias Keil ◽  
Matthias Noll
Keyword(s):  
Minimally Invasive Surgery ◽  
Real Time ◽  
Navigation System ◽  
Tumor Model ◽  
Computer Assisted Surgery ◽  
Computer Assisted ◽  
Online Video ◽  
Electromagnetic Tracking ◽  
Position And Orientation

The purpose of this paper is to present our extension of the MITK toolkit by a real-time navigation system for computer assisted surgery. The system was developed with laparoscopic partial nephrectomies as a first application scenario. The main goal of the application is to enable tracking of the tumor position and orientation during surgery. Our system is based on ultrasound to CT registration and electromagnetic tracking. The basic idea is to process tracking information to generate an augmented reality (AR) visualization of a tumor model in the camera image of a laparoscopic camera. Our system will enhance the surgeon’s view on the current scene and therefore facilitates higher safety during the surgery. A key intention of the development was to use only open source toolkits such as VTK, MITK and OpenCV in order to implement the desired functionality. So far we have applied our system in vitro in two phantom trials with a surgeon which yielded promising results.

scholarly journals 4D spatio-temporal convolutional networks for object position estimation in OCT volumes

2020 ◽  
Vol 6 (1) ◽  
Author(s):  
Marcel Bengs ◽  
Nils Gessert ◽  
Alexander Schlaefer
Keyword(s):  
Spatial Information ◽  
Tracking System ◽  
Computer Assisted Surgery ◽  
Absolute Error ◽  
Position Estimation ◽  
Optical Tracking ◽  
Computer Assisted ◽  
Optical Tracking System ◽  
Spatio Temporal ◽  
The Impact

AbstractTracking and localizing objects is a central problem in computer-assisted surgery. Optical coherence tomography (OCT) can be employed as an optical tracking system, due to its high spatial and temporal resolution. Recently, 3D convolutional neural networks (CNNs) have shown promising performance for pose estimation of a marker object using single volumetric OCT images. While this approach relied on spatial information only, OCT allows for a temporal stream of OCT image volumes capturing the motion of an object at high volumes rates. In this work, we systematically extend 3D CNNs to 4D spatio-temporal CNNs to evaluate the impact of additional temporal information for marker object tracking. Across various architectures, our results demonstrate that using a stream of OCT volumes and employing 4D spatio-temporal convolutions leads to a 30% lower mean absolute error compared to single volume processing with 3D CNNs.

scholarly journals ClipAssistNet: bringing real-time safety feedback to operating rooms

2021 ◽  
Author(s):  
Florian Aspart ◽  
Jon L. Bolmgren ◽  
Joël L. Lavanchy ◽  
Guido Beldi ◽  
Michael S. Woods ◽  
...  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Laparoscopic Cholecystectomy ◽  
Real Time ◽  
Cystic Duct ◽  
Computer Assisted Surgery ◽  
Computer Assisted ◽  
Embedded Computing ◽  
Test Set ◽  
Critical Phase

Abstract Purpose Cholecystectomy is one of the most common laparoscopic procedures. A critical phase of laparoscopic cholecystectomy consists in clipping the cystic duct and artery before cutting them. Surgeons can improve the clipping safety by ensuring full visibility of the clipper, while enclosing the artery or the duct with the clip applier jaws. This can prevent unintentional interaction with neighboring tissues or clip misplacement. In this article, we present a novel real-time feedback to ensure safe visibility of the instrument during this critical phase. This feedback incites surgeons to keep the tip of their clip applier visible while operating. Methods We present a new dataset of 300 laparoscopic cholecystectomy videos with frame-wise annotation of clipper tip visibility. We further present ClipAssistNet, a neural network-based image classifier which detects the clipper tip visibility in single frames. ClipAssistNet ensembles predictions from 5 neural networks trained on different subsets of the dataset. Results Our model learns to classify the clipper tip visibility by detecting its presence in the image. Measured on a separate test set, ClipAssistNet classifies the clipper tip visibility with an AUROC of 0.9107, and 66.15% specificity at 95% sensitivity. Additionally, it can perform real-time inference (16 FPS) on an embedded computing board; this enables its deployment in operating room settings. Conclusion This work presents a new application of computer-assisted surgery for laparoscopic cholecystectomy, namely real-time feedback on adequate visibility of the clip applier. We believe this feedback can increase surgeons’ attentiveness when departing from safe visibility during the critical clipping of the cystic duct and artery.

A novel 4 camera multi-stereo tracking system for application in surgical navigation systems

2020 ◽  
Vol 87 (7-8) ◽  
pp. 451-458
Author(s):  
Oliver Gieseler ◽  
Hubert Roth ◽  
Jürgen Wahrburg
Keyword(s):  
Operating Room ◽  
Surgical Navigation ◽  
Tracking System ◽  
Computer Assisted Surgery ◽  
Optical Tracking ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Camera Model ◽  
Camera System ◽  
Industrial Cameras

AbstractIn this paper, we present a novel 4 camera stereo system for application as optical tracking component in navigation systems in computer-assisted surgery. This shall replace a common stereo camera system in several applications. The objective is to provide a tracking component consisting of four single industrial cameras. The system can be built up flexibly in the operating room e. g. at the operating room lamp. The concept is characterized by independent, arbitrary camera mounting poses and demands easy on-site calibration procedures of the camera setup. Following a short introduction describing the environment, motivation and advantages of the new camera system, a simulation of the camera setup and arrangement is depicted in Section 2. From this, we gather important information and parameters for the hardware setup, which is described in Section 3. Section 4 includes the calibration of the cameras. Here, we illustrate the background of camera model and applied calibration procedures, a comparison of calibration results obtained with different calibration programs and a new concept for fast and easy extrinsic calibration.

Simulation of real-time deformable soft tissues for computer assisted surgery

2004 ◽  
Vol 01 (01) ◽  
pp. 107
Author(s):  
Antonio Frisoli ◽  
Luigi Borelli ◽  
Cristina Stasi ◽  
Massimo Bellini ◽  
Chiara Evangelista ◽  
...  
Keyword(s):  
Real Time ◽  
Soft Tissues ◽  
Computer Assisted Surgery ◽  
Computer Assisted

Simulation of real-time deformable soft tissues for computer assisted surgery

2004 ◽  
Vol 1 (1) ◽  
pp. 107-113 ◽  
Author(s):  
A Frisoli ◽  
L F Borelli ◽  
C Stasi ◽  
M Bellini ◽  
C Bianchi ◽  
...  
Keyword(s):  
Real Time ◽  
Soft Tissues ◽  
Computer Assisted Surgery ◽  
Computer Assisted

scholarly journals Near Real-Time Computer Assisted Surgery for Brain Shift Correction Using Biomechanical Models

2014 ◽  
Vol 2 ◽  
pp. 1-13 ◽  
Author(s):  
Kay Sun ◽  
Thomas S. Pheiffer ◽  
Amber L. Simpson ◽  
Jared A. Weis ◽  
Reid C. Thompson ◽  
...  
Keyword(s):  
Real Time ◽  
Computer Assisted Surgery ◽  
Computer Assisted ◽  
Brain Shift ◽  
Biomechanical Models

MITK-OpenIGTLink for combining open-source toolkits in real-time computer-assisted interventions

2016 ◽  
Vol 12 (3) ◽  
pp. 351-361 ◽  
Author(s):  
Martin Klemm ◽  
Thomas Kirchner ◽  
Janek Gröhl ◽  
Dominique Cheray ◽  
Marco Nolden ◽  
...  
Keyword(s):  
Open Source ◽  
Real Time ◽  
Computer Assisted
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