Abstract
In this paper we present novel solutions to support the application of computer assisted surgical interventions in which optical surgical navigation systems based on stereo cameras are used. The objective is to improve both the pre-operative setup and the intra-operative use of the navigation system. Following a short introduction describing the potential for improvements of existing navigation systems new approaches and the components to implement them are described. The pre-operative alignment of the stereo camera is made easier by attaching a small graphic display to its tripod which can show how much of the operating area is covered by the measurement volume of the camera. The intra-operative application is improved by a mechanism for motorized camera motions in order to follow the position of surgical instruments. Furthermore a small display can be attached to a surgical instrument which clearly indicates to the surgeon how to guide the instrument in order to stay on the planned trajectory.
Zusammenfassung
In diesem Artikel stellen wir neue Lösungsansätze vor, um die Durchführung von computerassistierten chirurgischen Eingriffen zu unterstützen bei denen optische, chirurgische Navigationssysteme auf Basis von Stereokameras zum Einsatz kommen. Ziel ist es, sowohl die präoperative Einrichtung als auch den intraoperativen Einsatz des Navigationssystems zu verbessern. Nach einer kurzen Einführung, in der potenzielle Verbesserungsmöglichkeiten für bestehende Navigationssysteme aufgezeigt werden, folgt eine Beschreibung neuer Ansätze und entsprechender Komponenten für deren Implementierung. Die präoperative Ausrichtung der Stereokamera wird durch Anbringen eines kleinen Grafikdisplays am Stativ vereinfacht, welches zeigt wie gut sich Operationsbereich und Messvolumen der Kamera decken. Die intraoperative Anwendung wird durch die Verwendung einer Vorrichtung, die eine motorisierte Kamerabewegung zur Verfolgung von chirurgischen Instrumenten ermöglicht, verbessert. Außerdem kann ein kleines Display am chirurgischen Instrument angebracht werden, welches dem Operateur übersichtlich anzeigt, wie das Instrument zu bewegen ist, um es auf einer geplanten Trajektorie zu führen.
Funding source: Bundesministerium für Bildung und Forschung
Award Identifier / Grant number: 13GW0175B
Funding statement: Part of this work is funded by the German Bundesministerium für Bildung und Forschung (support program KMU-innovativ: Medizintechnik, contract number 13GW0175B).
About the authors
M.Sc. Oliver Gieseler is scientific assistant at Center for Sensor Systems (ZESS) working in the field of optical 3D-localization in computer assisted surgery.
M.Sc. Julio C. Alvares Gomez is research assistant at ZESS Center for Sensor Systems (ZESS) and currently working in the field of tools and visualization in computer assisted surgery.
Prof. Dr-Ing. Hubert Roth is director of the institute for control engineering at University of Siegen and board member of Center for Sensor Systems.
Dr-Ing. Jürgen Wahrburg is Akad. Director at the institute of conrol engineering and leads a research group for development of computer and robotic assisted systems for surgical applications.
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