Microscale Tracking of Surgical Instrument Motion - Robotics Institute Carnegie Mellon University

Microscale Tracking of Surgical Instrument Motion

Cameron Riviere and Pradeep Khosla
Conference Paper, Proceedings of 2nd International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI '99), pp. 1080 - 1087, September, 1999

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.

BibTeX

@conference{Riviere-1999-15016,
author = {Cameron Riviere and Pradeep Khosla},
title = {Microscale Tracking of Surgical Instrument Motion},
booktitle = {Proceedings of 2nd International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI '99)},
year = {1999},
month = {September},
pages = {1080 - 1087},
}