Fernando Pérez-Escamirosa1, Ignacio Oropesa2, Patricia Sánchez-González2,3, Jesús Tapia-Jurado4, Jorge Ruiz-Lizarraga4, Arturo Minor-Martínez5. 1. Department of Surgery, Faculty of Medicine, Universidad Nacional Autónoma de México (UNAM), Ciudad de México, Mexico. 2. Biomedical Engineering and Telemedicine Centre (GBT), ETSI Telecomunicación, Center for Biomedical Technology, Universidad Politécnica de Madrid (UPM), Madrid, Spain. 3. Biomedical Research Networking Centre in Bioengineering, Biomaterials and Nanomedicine (CIBER-BBN), Madrid, Spain. 4. Centro de Enseñanza por Simulación de Posgrado (CESIP), Unidad de Posgrado, Universidad Nacional Autónoma de México, Facultad de Medicina, Universidad Nacional Autónoma de México Ciudad de México, Mexico. 5. Department of Electrical Engineering, Bioelectronics Section, Centro de Investigación y de Estudios Avanzados del Instituto Politécnico Nacional (CINVESTAV-IPN), Ciudad de México, Mexico.
Abstract
INTRODUCTION: Motion analysis is a valuable tool for assessment of psychomotor skills in laparoscopy. Nonetheless, it requires technologies for tracking the activity of the laparoscopic instruments during training. This paper presents a sensor-free system to track the movements of laparoscopic instruments based on an orthogonal camera system and video image processing. METHODS: The movements of the laparoscopic instruments are tracked with two webcams placed in an orthogonal configuration. The position and orientation in the three-dimensional workspace are obtained using color markers placed on the tip of the instruments. RESULTS: Accuracy tests show a resolution of 0.14 mm for displacement, with 1694 cm3 of total workspace, and 0.54° in the angular movements. Mean relative errors of the tracking system were <1%. The orthogonal cameras show high precision, linearity, and repeatability of motion recording of the laparoscopic instruments. CONCLUSION: The proposed system offers unconstrained manipulation of the instruments and a low-cost alternative for traditional tracking technologies. Copyright:
INTRODUCTION: Motion analysis is a valuable tool for assessment of psychomotor skills in laparoscopy. Nonetheless, it requires technologies for tracking the activity of the laparoscopic instruments during training. This paper presents a sensor-free system to track the movements of laparoscopic instruments based on an orthogonal camera system and video image processing. METHODS: The movements of the laparoscopic instruments are tracked with two webcams placed in an orthogonal configuration. The position and orientation in the three-dimensional workspace are obtained using color markers placed on the tip of the instruments. RESULTS: Accuracy tests show a resolution of 0.14 mm for displacement, with 1694 cm3 of total workspace, and 0.54° in the angular movements. Mean relative errors of the tracking system were <1%. The orthogonal cameras show high precision, linearity, and repeatability of motion recording of the laparoscopic instruments. CONCLUSION: The proposed system offers unconstrained manipulation of the instruments and a low-cost alternative for traditional tracking technologies. Copyright:
Keywords:
Análisis de movimiento; Cámaras ortogonales; Laparoscopia; Laparoscopy; Motion analysis; Orthogonal cameras; Sistema de seguimiento en video; Triangulación; Triangulation; Video-based tracking system
Authors: Michaela F Close; Charmee H Mehta; Yuan Liu; Mitchell J Isaac; Mark S Costello; Kyle D Kulbarsh; Ted A Meyer Journal: Otolaryngol Head Neck Surg Date: 2020-06-30 Impact factor: 3.497