The WHaSP: A Wireless Hands-Free Surgical Pointer for Minimally Invasive Surgery (original) (raw)
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TrEndo, a device for tracking minimally invasive surgical instruments in training setups
Sensors and Actuators A: Physical, 2006
A novel, four degrees of freedom, low-cost device for tracking minimally invasive surgical instruments (MIS) in training setups was developed. This device consists of a gimbal mechanism with three optical computer mouse sensors. The gimbal guides the MIS instrument, while optical sensors measure the movements of the instrument. To test the feasibility of using optical mouse sensors to track MIS instruments, the accuracy of these sensors was tested depending on three conditions: distance between lens and object, velocity of movements, and surface characteristics. The results of this study were used for developing a prototype-TrEndo.
Development of a wireless hybrid navigation system for laparoscopic surgery
Studies in health technology and informatics, 2011
Navigation devices have been essential components for Image-Guided Surgeries (IGS) including laparoscopic surgery. We propose a wireless hybrid navigation device that integrates miniature inertial sensors and electromagnetic sensing units, for tracking instruments both inside and outside the human-body. The proposed system is free of the constraints of line-of-sight or entangling sensor wires. The main functional (sensor) part of the hybrid tracker is only about 15 mm by 15 mm. We identify the sensor models and develop sensor fusion algorithms for the proposed system to get optimal estimation of position and orientation (pose). The proof-of-concept experimental results show that the proposed hardware and software system can meet the defined tracking requirements, in terms of tracking accuracy, latency and robustness to environmental interferences.
Purpose Minimally Invasive Surgery (MIS) is a widely used surgical technique that requires a long training process due to its difficulty and complexity. We developed an Augmented Reality Haptic (ARH) System based on electromagnetic tracking devices for use in creation training models (computer-enhanced trainers), in computer-assisted surgery or telemanipulation applications. Method The ARH system consists currently in a Linux driver and a calibration protocol to acquire the tooltip position of conventional laparoscopic tools in real time. A Polhemus Isotrack II was used to track surgical endoscopic tooltip movements. The receiver was mounted on the tool handle in order to measure laparoscopic tools positions without complex modifications. Two validation tests were done to guarantee the proper functioning of the ARH system in a MIS environment. The first one checks the driver operation and the second measures the accuracy and reliability of the tooltip pose estimation process. Results Jitter and orientation errors for the first test were 2.00 ± 0.10 and 2.00 ± 0.09 mm, respectively. Relative position error of 0.25 ± 0.06 cm for a distance of 5 cm was found. Jitter error for the second test was 127 ± 60, 117 ± 40 and 122 ± 39 mm in Z, Y and X rotations, respectively. Conclusions Results obtained with the ARH system are sufficiently accurate for use in MIS training. A supplementary correction procedure would be necessary to use this ARH system in computer-assisted surgery or telemanipulation.
A Non-Contact Mouse for Surgeon-Computer Interaction
2003
We have developed a system that uses computer vision to replace standard computer mouse functions with hand gestures. The system is designed to enable non- contact human-computer interaction (HCI), so that surgeons will be able to make more effective use of computers during surgery. In this paper, we begin by discussing the need for non-contact computer interfaces in the operating
The International Journal of Medical Robotics and Computer Assisted Surgery
Background: Recent tele-mentoring technologies for minimally invasive surgery (MIS) augments the operative field with movements of virtual surgical instruments as visual cues. The objective of this work is to assess different user-interfaces that effectively transfer mentor's hand gestures to the movements of virtual surgical instruments. Methods: A user study was conducted to assess three different user-interface devices (Oculus-Rift, SpaceMouse, Touch Haptic device) under various scenarios. The devices were integrated with a MIS tele-mentoring framework for control of both manual and robotic virtual surgical instruments. Results: The user study revealed that Oculus Rift is preferred during robotic scenarios, whereas the touch haptic device is more suitable during manual scenarios for tele-mentoring. Conclusion: A user-interface device in the form of a stylus controlled by fingers for pointing in 3D space is more suitable for manual MIS, whereas a user-interface that can be moved and oriented easily in 3D space by wrist motion is more suitable for robotic MIS. K E Y W O R D S minimally invasive surgery, surgical simulations, tele-mentoring, user-interfaces, virtual surgical instruments 1 | INTRODUCTION Tele-medicine is playing an ever-increasing role in clinical practice with the aim to provide clinical healthcare from a distance. 1,2 It entails the use of software/hardware technologies to share clinical information and edit its content in real-time. An aspect of telemedicine, when applied to surgical context, includes tele-mentoring and tele-collaboration during a surgery. 3-5 Augmented reality based enabling technologies have been developed to facilitate telementoring between an operating and a remote surgeon during a minimally invasive surgery (MIS). It involves the use of user interfaces that assist the mentor (the remote surgeon) to perform screen markings 6-8 or display augmented hands gestures 9-11 to the mentee (the operating surgeon). More sophisticated user interfaces allow the This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited.
The Mini-Screen: an Innovative Device for Computer Assisted Surgery Systems
2008
In this paper we focus on the design of Computer Assisted Surgery (CAS) systems and more generally Augmented Reality (AR) systems that assist a user in performing a task on a physical object. Digital information or new actions are defined by the AR system to facilitate or to enrich the natural way the user would interact with the real environment. We focus on the outputs of such systems, so that additional digital information is smoothly integrated with the real environment of the user, by considering an innovative device for displaying guidance information: the mini-screen. We first motivate the choice of the mini-screen based on the ergonomic property of perceptual continuity and then present a design space useful to create interaction techniques based on a mini-screen. Two versions of a Computer ASsisted PERicardial (CASPER) puncture application, as well as a computer assisted renal puncture application, developed in our teams, are used to illustrate the discussion.
Handheld Devices for Laparoscopic Surgery
New Horizons in Laparoscopic Surgery, 2018
Despite the well-known benefits of minimally invasive surgery (MIS) to the patients, this surgical technique implies some technical challenges for surgeons. These technical limitations are increased with the introduction of laparoendoscopic single-site (LESS) surgery. In order to overcome some of these technical difficulties, new handheld devices have been developed, providing improved functionalities along with precision-driven and articulating instrument tips. In this chapter, we will review the current status of handheld devices for laparoscopy and LESS surgery. Devices that provide additional and innovative functionalities in comparison with conventional surgical instruments will be considered. Results will be based on studies published in the scientific literature and our experience. These surgical devices will be organized into two main groups, mechanical devices and robotic-driven devices. In general, these instruments intend to simulate the dexterity of movements of a human wrist. Mechanical devices are cheaper and easier to develop, so most of the available handheld instruments fall into this category. The majority of the robotic-driven devices are needle holders with an articulating tip, controlled by an interface implemented on the instrument handle. In general, these handheld devices claim to offer an enhancement of dexterity, precision, and ergonomics.