Tracking of Scalpel Motions With an Inertial Measurement Unit System
Tracking of Scalpel Motions With an Inertial Measurement Unit System
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DOI：
10.1109/jsen.2022.3145312
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发表时间：
2022-03-01
影响因子：
4.3
通讯作者：
Leduc, Philip
中科院分区：
文献类型：
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作者：
Kabuye, Ernest;Hellebrekers, Tess;Leduc, Philip
外科手术计划在手术干预前设想一个完整的过程，再加上外科医生的先进外科技术，已被证明可以改善手术结果。改进手术计划的努力包括通过手术器械在人体有限的体腔空间内实时跟踪外科医生的运动，以增强在进行微创手术时的特定技术。在这项工作中，提出了一种手术工具跟踪方法，利用小规模电子设备来实现实时位置捕获，用于迭代手术规划。通过集成轻量级9自由度惯性测量单元(IMU)，我们的系统无需直接视线即可捕获手术工具的空间和时间信息。IMU打印在柔性薄膜上，与手术工具连接并集成在一起，展示了其跟踪能力。对来自IMU的数据进行分析，以确定角位移期间的全运动范围，以进行测量和跟踪。结果表明，X(偏航)、Y(横摇)和Z(俯仰)欧拉角坐标系的全运动范围的精度分别为2.2(0)、2.9(0)和3.1(0)，显示了手术工具跟踪测量的潜力，不需要直接视线，并且具有未来的影响，包括灵活的电子和运动跟踪。这项工作将有助于包括外科手术、外科培训、生物材料和运动跟踪在内的各种领域。
Surgical planning to visualize a complete procedure before surgical intervention, paired with the advanced surgical techniques of a surgeon, has been shown to improve surgical outcomes. Efforts to improve surgical planning have included tracking real-time surgeon movements via surgical instruments in a confined body cavity space in the human body to enhance specific techniques when performing minimally invasive surgery. In this work, a surgical tool tracking approach is presented that leverages small scale electronics to enable real-time position capture for use in iterative surgical planning. By integrating a lightweight 9 degree-of-freedom Inertial Measurement Unit (IMU), our system captures both spatial and temporal information of the surgical tool without requiring a direct line-of-sight. The IMU is printed on a flexible film and attached to and integrated with a surgical tool demonstrating its tracking capabilities. Data from the IMU is analyzed to determine the full range of motion during angular displacement for measurement and tracking. The results show an accuracy of 2.2(0), 2.9(0) and 3.1(0) of the full range of motion of the X (Yaw), Y (Roll) and Z (Pitch) Euler angle coordinate system respectively demonstrating the potential for surgical tool tracking measurement without the need for a direct line of sight and with future impact including flexible electronics and motion tracking. This work will be helpful in a diversity of fields including surgery, surgical training, biomaterials, and motion tracking.