Int J Comput Assist Radiol Surg - Augmented reality haptic (ARH): an approach of electromagnetic tracking in minimally invasive surgery.

Tópicos

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Resumo

RPOSE: 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.

Resumo Limpo

rpose minim invas surgeri mis wide use surgic techniqu requir long train process due difficulti complex develop augment realiti haptic arh system base electromagnet track devic use creation train model computerenhanc trainer computerassist surgeri telemanipul applicationsmethod arh system consist current linux driver calibr protocol acquir tooltip posit convent laparoscop tool real time polhemus isotrack ii use track surgic endoscop tooltip movement receiv mount tool handl order measur laparoscop tool posit without complex modif two valid test done guarante proper function arh system mis environ first one check driver oper second measur accuraci reliabl tooltip pose estim processresult jitter orient error first test mm respect relat posit error cm distanc cm found jitter error second test mm z y x rotat respectivelyconclus result obtain arh system suffici accur use mis train supplementari correct procedur necessari use arh system computerassist surgeri telemanipul

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