Precision measurement for microsurgical instrument evaluation

Author

Hotraphinyo, Lee F. ; Riviere, Cameron N.

Author_Institution

Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

4

fYear

2001

fDate

2001

Firstpage

3454

Abstract

An accurate three-dimensional optical sensing system to track 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 instrument), as well as for assessment and training of microsurgeons. It can also be used as a high-precision input interface to micro-surgical simulators. Tracking is done by illuminating the workspace at an infrared wavelength and using optical sensors to find the position of a small reflective ball at the instrument tip. The RMS noise per coordinate is presently 1 micron. Sample results are presented.

Keywords

biomedical equipment; medical robotics; optical sensors; optical tracking; position measurement; surgery; RMS noise; accuracy enhancement; active hand-held instrument; infrared wavelength; instrument tip; microsurgeons training; microsurgical instrument evaluation; position finding; precision measurement; robotic devices; small reflective ball; workspace illumination; Infrared sensors; Laboratories; Light emitting diodes; Microsurgery; Optical computing; Optical sensors; Robot kinematics; Robot sensing systems; Surgery; Surgical instruments;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE

ISSN

1094-687X

Print_ISBN

0-7803-7211-5

Type

conf

DOI

10.1109/IEMBS.2001.1019573

Filename

1019573