Using a passive coordinate measurement arm for motion tracking of a rigid endoscope for augmented-reality image-guided surgery

Rudy J Lapeer, Samuel J Jeffrey, Josh T Dao, Gerardo González Garcia, Minsi Chen, Steve M Shickell, Roger S Rowland, Carl M Philpott

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

Background One of the main sources of error in commercial surgical navigation systems is the tracking of surgical tools. Mainstream systems typically use optical or electromagnetic tracking technologies, which exhibit accuracies of the order of 1 mm. The objective of this study was to introduce a lightweight high‐precision passive coordinate measurement arm into an augmented reality‐based surgical navigation system to track a rigid endoscope. Methods A series of dry laboratory experiments were run to compare the tracking performance of an optical tracking device, a passive coordinate measurement arm and a hybrid set‐up. Results The optical device displayed overlay errors in the range 1.5–3 mm. For the precision measurement arm, 96% of overlay errors were < 1 mm. The hybrid set‐up exhibited overlay errors in the range 0.8–1.5 mm. Conclusions The reported experiments showed that a high‐precision articulated measurement arm could be used as a motion‐tracking device for surgical instruments in augmented‐reality surgical navigation. Copyright © 2013 John Wiley & Sons, Ltd.
Original languageEnglish
Pages (from-to)65-77
Number of pages13
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume10
Issue number1
Early online date27 May 2013
DOIs
Publication statusPublished - Mar 2014
Externally publishedYes

Fingerprint

Computer-Assisted Surgery
Optical Devices
Endoscopy
Endoscopes
Augmented reality
Surgery
Electromagnetic Phenomena
Navigation systems
Surgical Instruments
Research Design
Technology
Equipment and Supplies
Optical devices
Navigation
Experiments

Cite this

Lapeer, Rudy J ; Jeffrey, Samuel J ; Dao, Josh T ; Garcia, Gerardo González ; Chen, Minsi ; Shickell, Steve M ; Rowland, Roger S ; Philpott, Carl M. / Using a passive coordinate measurement arm for motion tracking of a rigid endoscope for augmented-reality image-guided surgery. In: International Journal of Medical Robotics and Computer Assisted Surgery. 2014 ; Vol. 10, No. 1. pp. 65-77.
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Using a passive coordinate measurement arm for motion tracking of a rigid endoscope for augmented-reality image-guided surgery. / Lapeer, Rudy J; Jeffrey, Samuel J; Dao, Josh T; Garcia, Gerardo González; Chen, Minsi; Shickell, Steve M; Rowland, Roger S; Philpott, Carl M.

In: International Journal of Medical Robotics and Computer Assisted Surgery, Vol. 10, No. 1, 03.2014, p. 65-77.

Research output: Contribution to journalArticle

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AU - Jeffrey, Samuel J

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AU - Chen, Minsi

AU - Shickell, Steve M

AU - Rowland, Roger S

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AB - Background One of the main sources of error in commercial surgical navigation systems is the tracking of surgical tools. Mainstream systems typically use optical or electromagnetic tracking technologies, which exhibit accuracies of the order of 1 mm. The objective of this study was to introduce a lightweight high‐precision passive coordinate measurement arm into an augmented reality‐based surgical navigation system to track a rigid endoscope. Methods A series of dry laboratory experiments were run to compare the tracking performance of an optical tracking device, a passive coordinate measurement arm and a hybrid set‐up. Results The optical device displayed overlay errors in the range 1.5–3 mm. For the precision measurement arm, 96% of overlay errors were < 1 mm. The hybrid set‐up exhibited overlay errors in the range 0.8–1.5 mm. Conclusions The reported experiments showed that a high‐precision articulated measurement arm could be used as a motion‐tracking device for surgical instruments in augmented‐reality surgical navigation. Copyright © 2013 John Wiley & Sons, Ltd.

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