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Comparative Study of Two Laparoscopic Instrument Tracker Designs for Motion Analysis and Image-Guided Surgery: A Technical Evaluation

  • J. A. Sánchez-Margallo
  • F. M. Sánchez-Margallo
  • I. Oropesa
  • M. Lucas
  • J. Moreno
  • E. J. Gómez
Part of the IFMBE Proceedings book series (IFMBE, volume 41)

Abstract

Laparoscopic instrument tracking systems are a key element in image-guided interventions, which requires high accuracy to be used in a real surgical scenario. In addition, these systems are a suitable option for objective assessment of laparoscopic technical skills based on instrument motion analysis. This study presents a new approach that improves the accuracy of a previously presented system, which applies an optical pose tracking system to laparoscopic practice. A design enhancement of the artificial markers placed on the laparoscopic instrument as well as an improvement of the calibration process are presented as a means to achieve more accurate results. A technical evaluation has been performed in order to compare the accuracy between the previous design and the new approach. Results show a remarkable improvement in the fluctuation error throughout the measurement platform. Moreover, the accumulated distance error and the inclination error have been improved. The tilt range covered by the system is the same for both approaches, from 90° to 7.5°. The relative position error is better for the new approach mainly at close distances to the camera system.

Keywords

Laparoscopic tool tracking Optical pose tracker Motion analysis Motion analysis Image-guided intervention 

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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • J. A. Sánchez-Margallo
    • 1
  • F. M. Sánchez-Margallo
    • 2
  • I. Oropesa
    • 3
    • 4
  • M. Lucas
    • 1
  • J. Moreno
    • 5
  • E. J. Gómez
    • 3
    • 4
  1. 1.Bioengineering and Health Technologies UnitJesús Usón Minimally Invasive Surgery CentreCáceresSpain
  2. 2.Laparoscopy UnitJesús Usón Minimally Invasive Surgery CentreCáceresSpain
  3. 3.Bioengineering and Telemedicine Centre, ETSI TelecomunicationUniversidad Politécnica de MadridMadridSpain
  4. 4.Networking Research Centre on BioengineeringBiomaterials and Nanomedicine (CIBER-BBN)ZaragozaSpain
  5. 5.Laboratory of Robotics and Artificial VisionUniversidad de ExtremaduraCáceresSpain

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