Title :
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
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;
Conference_Titel :
Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE
Print_ISBN :
0-7803-7211-5
DOI :
10.1109/IEMBS.2001.1019573
