Cargando…

Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery

Robotic systems for surgery of the inner ear must enable highly precise movement in relation to the patient. To allow for a suitable collaboration between surgeon and robot, these systems should not interrupt the surgical workflow and integrate well in existing processes. As the surgical microscope...

Descripción completa

Detalles Bibliográficos
Autores principales: Marzi, Christian, Prinzen, Tom, Haag, Julia, Klenzner, Thomas, Mathis-Ullrich, Franziska
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2021
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8639496/
https://www.ncbi.nlm.nih.gov/pubmed/34869554
http://dx.doi.org/10.3389/fsurg.2021.742160
_version_ 1784609160121286656
author Marzi, Christian
Prinzen, Tom
Haag, Julia
Klenzner, Thomas
Mathis-Ullrich, Franziska
author_facet Marzi, Christian
Prinzen, Tom
Haag, Julia
Klenzner, Thomas
Mathis-Ullrich, Franziska
author_sort Marzi, Christian
collection PubMed
description Robotic systems for surgery of the inner ear must enable highly precise movement in relation to the patient. To allow for a suitable collaboration between surgeon and robot, these systems should not interrupt the surgical workflow and integrate well in existing processes. As the surgical microscope is a standard tool, present in almost every microsurgical intervention and due to it being in close proximity to the situs, it is predestined to be extended by assistive robotic systems. For instance, a microscope-mounted laser for ablation. As both, patient and microscope are subject to movements during surgery, a well-integrated robotic system must be able to comply with these movements. To solve the problem of on-line registration of an assistance system to the situs, the standard of care often utilizes marker-based technologies, which require markers being rigidly attached to the patient. This not only requires time for preparation but also increases invasiveness of the procedure and the line of sight of the tracking system may not be obstructed. This work aims at utilizing the existing imaging system for detection of relative movements between the surgical microscope and the patient. The resulting data allows for maintaining registration. Hereby, no artificial markers or landmarks are considered but an approach for feature-based tracking with respect to the surgical environment in otology is presented. The images for tracking are obtained by a two-dimensional RGB stream of a surgical microscope. Due to the bony structure of the surgical site, the recorded cochleostomy scene moves nearly rigidly. The goal of the tracking algorithm is to estimate motion only from the given image stream. After preprocessing, features are detected in two subsequent images and their affine transformation is computed by a random sample consensus (RANSAC) algorithm. The proposed method can provide movement feedback with up to 93.2 μm precision without the need for any additional hardware in the operating room or attachment of fiducials to the situs. In long term tracking, an accumulative error occurs.
format Online
Article
Text
id pubmed-8639496
institution National Center for Biotechnology Information
language English
publishDate 2021
publisher Frontiers Media S.A.
record_format MEDLINE/PubMed
spelling pubmed-86394962021-12-04 Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery Marzi, Christian Prinzen, Tom Haag, Julia Klenzner, Thomas Mathis-Ullrich, Franziska Front Surg Surgery Robotic systems for surgery of the inner ear must enable highly precise movement in relation to the patient. To allow for a suitable collaboration between surgeon and robot, these systems should not interrupt the surgical workflow and integrate well in existing processes. As the surgical microscope is a standard tool, present in almost every microsurgical intervention and due to it being in close proximity to the situs, it is predestined to be extended by assistive robotic systems. For instance, a microscope-mounted laser for ablation. As both, patient and microscope are subject to movements during surgery, a well-integrated robotic system must be able to comply with these movements. To solve the problem of on-line registration of an assistance system to the situs, the standard of care often utilizes marker-based technologies, which require markers being rigidly attached to the patient. This not only requires time for preparation but also increases invasiveness of the procedure and the line of sight of the tracking system may not be obstructed. This work aims at utilizing the existing imaging system for detection of relative movements between the surgical microscope and the patient. The resulting data allows for maintaining registration. Hereby, no artificial markers or landmarks are considered but an approach for feature-based tracking with respect to the surgical environment in otology is presented. The images for tracking are obtained by a two-dimensional RGB stream of a surgical microscope. Due to the bony structure of the surgical site, the recorded cochleostomy scene moves nearly rigidly. The goal of the tracking algorithm is to estimate motion only from the given image stream. After preprocessing, features are detected in two subsequent images and their affine transformation is computed by a random sample consensus (RANSAC) algorithm. The proposed method can provide movement feedback with up to 93.2 μm precision without the need for any additional hardware in the operating room or attachment of fiducials to the situs. In long term tracking, an accumulative error occurs. Frontiers Media S.A. 2021-11-19 /pmc/articles/PMC8639496/ /pubmed/34869554 http://dx.doi.org/10.3389/fsurg.2021.742160 Text en Copyright © 2021 Marzi, Prinzen, Haag, Klenzner and Mathis-Ullrich. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Surgery
Marzi, Christian
Prinzen, Tom
Haag, Julia
Klenzner, Thomas
Mathis-Ullrich, Franziska
Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_full Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_fullStr Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_full_unstemmed Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_short Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_sort continuous feature-based tracking of the inner ear for robot-assisted microsurgery
topic Surgery
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8639496/
https://www.ncbi.nlm.nih.gov/pubmed/34869554
http://dx.doi.org/10.3389/fsurg.2021.742160
work_keys_str_mv AT marzichristian continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery
AT prinzentom continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery
AT haagjulia continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery
AT klenznerthomas continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery
AT mathisullrichfranziska continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery