Technical Evaluation of a Third Generation Optical Pose Tracker for Motion Analysis and Image-Guided Surgery

  • Juan A. Sánchez-Margallo
  • Francisco M. Sánchez-Margallo
  • José B. Pagador
  • Ignacio Oropesa
  • Marcos Lucas
  • Enrique J. Gómez
  • José Moreno
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7761)

Abstract

Laparoscopic instrument tracking systems are an essential component in image-guided interventions and offer new possibilities to improve and automate objective assessment methods of surgical skills. In this study we present our system design to apply a third generation optical pose tracker (Micron- Tracker®) to laparoscopic practice. A technical evaluation of this design is performed in order to analyze its accuracy in computing the laparoscopic instrument tip position. Results show a stable fluctuation error over the entire analyzed workspace. The relative position errors are 1.776±1.675 mm, 1.817±1.762 mm, 1.854±1.740 mm, 2.455±2.164 mm, 2.545±2.496 mm, 2.764±2.342 mm, 2.512±2.493 mm for distances of 50, 100, 150, 200, 250, 300, and 350 mm, respectively. The accumulated distance error increases with the measured distance. The instrument inclination covered by the system is high, from 90 to 7.5 degrees. The system reports a low positional accuracy for the instrument tip.

Keywords

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

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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Juan A. Sánchez-Margallo
    • 1
  • Francisco M. Sánchez-Margallo
    • 1
  • José B. Pagador
    • 1
  • Ignacio Oropesa
    • 2
    • 3
  • Marcos Lucas
    • 1
  • Enrique J. Gómez
    • 2
    • 3
  • José Moreno
    • 4
  1. 1.Jesús Usón Minimally Invasive Surgery CentreCáceresSpain
  2. 2.Bioengineering and Telemedicine Centre (GBT), ETSI TelecomunicaciónUniversidad Politécnica de MadridMadridSpain
  3. 3.Networking Research Center on BioengineeringBiomaterials and Nanomedicine (CIBER-BBN)ZaragozaSpain
  4. 4.Laboratory of Robotics and Artificial VisionUniversity of ExtremaduraCáceresSpain

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