Abstract
An apparatus for accurate three-dimensional tracking of the tip of a microsurgical instrument has been developed for laboratory use. The system is useful for evaluation of microsurgical instrument designs and devices for accuracy enhancement (both robotic devices and active hand-held instruments), as well as for assessment and training of microsurgeons. It can also be used as a high-precision input interface to microsurgical simulators. The system involves illumination of the workspace and optical sensing of the position of a small reflective ball at the instrument tip, and therefore requires no wiring connection to the instrument being tracked. Sensing is performed by two position-sensitive photodiodes, placed orthogonally. The rms noise per coordinate is presently 7 microns. Preliminary results are presented. The photodiodes exhibit some degree of nonlinearity, which can be calibrated. The goal is to achieve an rms noise level of 1 micron. This is expected to be attainable via a synchronous detection scheme which has not yet been implemented.
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Keywords
- Physiological Tremor
- Computer Assist Surgery
- Orthogonal Frame
- Accuracy Enhancement
- Nonlinear Calibration
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
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Riviere, C.N., Khosla, P.K. (1999). Microscale Tracking of Surgical Instrument Motion. In: Taylor, C., Colchester, A. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI’99. MICCAI 1999. Lecture Notes in Computer Science, vol 1679. Springer, Berlin, Heidelberg. https://doi.org/10.1007/10704282_117
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DOI: https://doi.org/10.1007/10704282_117
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