3 research outputs found
Multi-stereo camera system to enhance the position accuracy of image-guided surgery markers
The development of Image-guided Surgery (IGS)
system as an assistant tool in medical navigation has led to new
challenges for researchers to enhance the accuracy of the medical
surgery. In IGS, a stereo camera is used to find the position of
medical markers and visualize it on the screen of the surgeon.
However, the line of sight (LOS) between the camera and the
markers causes the stoppage of the tracking system if it cut
during the operation. This paper presents a multi-stereo camera
system to overcome the LOS problem, and to improve the
accuracy of the IGS system. A pair of stereo cameras has been
used to recognize and detect the reference markers and visualize
a patient's body part and a surgical needle. A multi-stereo
camera has generated a very good accuracy of 3D visualization
with (2.88 mm) of root mean square error (RMSE). Image
filtering techniques have been used to process the captured
images. Thus, IGS system based on multi-stereo camera,
contributes promising results of medical navigation and enhances
the capabilities of IGS system
Multicamera Optical Tracker Assessment for Computer Aided Surgery Applications
Image-guided interventions enable the surgeon to display the position of instruments and devices with respect to the patient's imaging studies during surgery by means of a tracker device. Optical trackers are commonly chosen for many surgical applications when high accuracy and robustness are required. OptiTrack is a multicamera optical tracker whose number of sensors and their spatial configuration can be adapted to the application requirements, making it suitable for surgical settings. Nonetheless, no extensive studies of its accuracy are available. The purpose of this paper was to evaluate an eight-camera optical tracker in terms of accuracy, miscalibration sensitivity, camera occlusions, and tool detection in a feasible clinical setup. We studied the tracking accuracy of the system using a robotic arm (~μm precision) as the gold standard, a single reflective marker, and various tracked objects while the system was installed in an operating room. Miscalibration sensitivity was 0.16°. Mean target error was 0.24 mm for a single marker, decreasing to 0.05 mm for tracked tools. Single-marker error increased up to 1.65 mm when five cameras where occluded although 75% of the working volume showed an error lower than 0.23 mm. The accuracy was sufficient for navigating the collimator in intraoperative electron radiation therapy, improving redundancy and allowing large-working volumes. The tracker assessment we present and the validated miscalibration protocol are important contributions to image-guided surgery, where the choice of the tracker is critical and the knowledge of the accuracy in situations of camera occlusion is mandatory during surgical navigation
Desarrollo de un nuevo sistema de navegación en Implantología basado en unidades de medición inercial
La colocación de implantes dentales mediante cirugía guiada por ordenador tiene
numerosas ventajas frente a la realizada a mano alzada, especialmente mayor precisión,
mayor seguridad y menor invasividad. Pero también, tanto los sistemas estáticos o
férulas, como los dinámicos o navegación, presentan dificultades de uso y un mayor
coste, por lo que su utilización actual es limitada. Se elabora una revisión de los distintos
sistemas de guiado de la cirugía de colocación de implantes, de su uso, precisión y
fuentes de error. Describimos la unidad de medición inercial o IMU y sus primeras
aplicaciones en cirugía general, como una alternativa versátil, simple y económica a las
tecnologías existentes. Por medio de un prototipo que integra los sensores IMU en una
interfaz computerizada, se colocan implantes guiados por estos sensores, y también por
férulas CAD-CAM. Los resultados medios comparados que obtenemos entre ambos
sistemas de guiado, son similares estadísticamente. Las desviaciones medias han sido
en coronal 1.48 ± 0.2 (SD 0.58; 95% CI 1.27 - 1.69) y 1.42 ± 0.2 (SD 0.61; 95% CI 1.2 -
1.64) mm, en apical 2.00 ± 0.33 (SD 0.93; 95% CI 1.67 - 2.33) y 2.07 ± 0.35 (SD 0.97;
95% CI 1.72 - 2.42) mm, y las angulares 7.13º ± 1.47º (SD 4.1; 95% CI 5.66 - 8.6) y 5.63º
± 1.41º (SD 3.94; 95% CI 4.22 - 7.04), para IMU y Férulas Estereolitográficas (FE)
respectivamente. Estos resultados son consistentes con la precisión reportada en la
literatura para la cirugía guiada, tanto estática como dinámica. Se valora igualmente la
percepción del operador y su comodidad de uso, encontrando que el manejo del sistema
requiere un entrenamiento previo y que se facilitaría al mejorar la interfaz gráfica. Se abre
así una vía de investigación para adaptar este nuevo sistema de navegación al uso clínico
rutinario. Para ello, es necesaria la mejora in vitro de sus condiciones de manejo, así
como ulteriores estudios sobre pacientes.Computer-guided dental implant placement is considered to be safer, more accurate
and less invasive compared to freehand implant surgery. Currently two types of surgical
guiding systems are available, static templates and dynamic navigation. Both make
intervention more complex and costly and this could be the reason why their current use
remains limited. A "state of the art" of the different implant placement guiding systems,
their use, precision and sources of error has been conducted. The Inertial Measurement
Unit (IMU) and its early applications in general surgery are described. The IMU was shown
to be a versatile, simple and economical alternative to existing surgical guidance
technologies. A prototype surgical handpiece was assembled with IMU sensors
integrated with a computerized interface to guide implant placement. Implants were
placed in models using this prototype and the standard CAD-CAM splints. Similar
statistical average results were obtained using either of the two systems. The mean
deviations were 1.48 ± 0.2 (SD 0.58; 95% CI 1.27 - 1.69) and 1.42 ± 0.2 (SD 0.61; 95% CI
1.2 - 1.64) mm coronal, 2.00 ± 0.33 (SD 0.93; 95% CI 1.67 - 2.33) and 2.07 ± 0.35 (SD
0.97; 95% CI 1.72 - 2.42) mm apical, and 7.13º ± 1.47º (SD 4.1; 95% CI 5.66 - 8.6) y
5.63º ± 1.41º (SD 3.94; 95% CI 4.22 - 7.04) angular, for IMU’s and splints respectively.
These results are consistent with the precision reported in the literature for guided
surgery, both current static and dynamic modalities. When operator’s perceptions and
comfort of use were addressed, it was found that the system’s handling requires going
through a learning curve and that it would be facilitated by improving the graphic
interface. The present study opens a path of investigation to adapt this new surgical
navigation system to routine clinical use. To this end, the system has to be improved to
make the operator’s control easier before further studies on patients can be carried out