Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography
To automate surgical (sub-)tasks in robotic surgery, the knowledge of the exact pose of the instrument is mandatory. The application of Optical Coherence Tomography (OCT) to the problem of pose measurement appears promising due to its advantages of 3D imaging and micron-scale resolution. To investig...
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| Format: | Article |
| Language: | English |
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De Gruyter
2024-09-01
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| Series: | Current Directions in Biomedical Engineering |
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| Online Access: | https://doi.org/10.1515/cdbme-2024-1079 |
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| author | Schöne Sandra Pol Nirmal Kahrs Lueder A. |
| author_facet | Schöne Sandra Pol Nirmal Kahrs Lueder A. |
| author_sort | Schöne Sandra |
| collection | DOAJ |
| description | To automate surgical (sub-)tasks in robotic surgery, the knowledge of the exact pose of the instrument is mandatory. The application of Optical Coherence Tomography (OCT) to the problem of pose measurement appears promising due to its advantages of 3D imaging and micron-scale resolution. To investigate this, 175 image sequences of the EndoWrist Round Tip Scissor Tool were acquired with an OCT system. The images differ in the opening angles of the scissor blades and the rotation angles of the entire instrument about its central axis. These image sequences were further processed through computer vision methods of the individual images followed by point cloud generation. For pose estimation, an Iterative Closest Point algorithm was implemented to register the acquired point clouds to reference point clouds created from the instrument CAD file. The implemented algorithm was able to determine the opening angle with an overall error of 2∘ ± 1.3∘ and the rotation angle with a standard deviation between several runs of 0.6∘ ±2.8∘. However, the overall processing time of (39 ± 17)s on a standard PC leaves room for further investigations. |
| format | Article |
| id | doaj-art-7fca4e58e992465b915bdf4ae82deaa9 |
| institution | Kabale University |
| issn | 2364-5504 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | De Gruyter |
| record_format | Article |
| series | Current Directions in Biomedical Engineering |
| spelling | doaj-art-7fca4e58e992465b915bdf4ae82deaa92025-02-02T15:45:00ZengDe GruyterCurrent Directions in Biomedical Engineering2364-55042024-09-0110210711010.1515/cdbme-2024-1079Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence TomographySchöne Sandra0Pol Nirmal1Kahrs Lueder A.2Medical Computer Vision and Robotics Lab, University of Toronto,Toronto, CanadaMedical Computer Vision and Robotics Lab, Institute of Biomedical Engineering, University of Toronto,Toronto, CanadaMedical Computer Vision and Robotics Lab, Institute of Biomedical Engineering, University of Toronto,Toronto, CanadaTo automate surgical (sub-)tasks in robotic surgery, the knowledge of the exact pose of the instrument is mandatory. The application of Optical Coherence Tomography (OCT) to the problem of pose measurement appears promising due to its advantages of 3D imaging and micron-scale resolution. To investigate this, 175 image sequences of the EndoWrist Round Tip Scissor Tool were acquired with an OCT system. The images differ in the opening angles of the scissor blades and the rotation angles of the entire instrument about its central axis. These image sequences were further processed through computer vision methods of the individual images followed by point cloud generation. For pose estimation, an Iterative Closest Point algorithm was implemented to register the acquired point clouds to reference point clouds created from the instrument CAD file. The implemented algorithm was able to determine the opening angle with an overall error of 2∘ ± 1.3∘ and the rotation angle with a standard deviation between several runs of 0.6∘ ±2.8∘. However, the overall processing time of (39 ± 17)s on a standard PC leaves room for further investigations.https://doi.org/10.1515/cdbme-2024-1079icp registrationrobotic surgeryvolumetric measurementda vinci surgical system |
| spellingShingle | Schöne Sandra Pol Nirmal Kahrs Lueder A. Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography Current Directions in Biomedical Engineering icp registration robotic surgery volumetric measurement da vinci surgical system |
| title | Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography |
| title_full | Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography |
| title_fullStr | Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography |
| title_full_unstemmed | Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography |
| title_short | Pose Measurement of the EndoWrist Round Tip Scissor Instrument with Optical Coherence Tomography |
| title_sort | pose measurement of the endowrist round tip scissor instrument with optical coherence tomography |
| topic | icp registration robotic surgery volumetric measurement da vinci surgical system |
| url | https://doi.org/10.1515/cdbme-2024-1079 |
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