School of Computing Sciences, University of East Anglia, Norwich, UK.
Int J Med Robot. 2014 Mar;10(1):65-77. doi: 10.1002/rcs.1513. Epub 2013 May 27.
One of the main sources of error in commercial surgical navigation systems is the tracking of surgical tools. Mainstream systems typically use optical or electromagnetic tracking technologies, which exhibit accuracies of the order of 1 mm. The objective of this study was to introduce a lightweight high-precision passive coordinate measurement arm into an augmented reality-based surgical navigation system to track a rigid endoscope.
A series of dry laboratory experiments were run to compare the tracking performance of an optical tracking device, a passive coordinate measurement arm and a hybrid set-up.
The optical device displayed overlay errors in the range 1.5-3 mm. For the precision measurement arm, 96% of overlay errors were < 1 mm. The hybrid set-up exhibited overlay errors in the range 0.8-1.5 mm.
The reported experiments showed that a high-precision articulated measurement arm could be used as a motion-tracking device for surgical instruments in augmented-reality surgical navigation.
商业手术导航系统的主要误差源之一是手术工具的跟踪。主流系统通常使用光学或电磁跟踪技术，其精度约为 1 毫米。本研究的目的是将一种轻便高精度的无源坐标测量臂引入基于增强现实的手术导航系统，以跟踪刚性内窥镜。
进行了一系列干式实验室实验，以比较光学跟踪装置、无源坐标测量臂和混合装置的跟踪性能。
光学设备的叠加误差在 1.5-3 毫米范围内。对于精密测量臂，96%的叠加误差<1 毫米。混合装置的叠加误差在 0.8-1.5 毫米范围内。
报告的实验表明，高精度铰接式测量臂可用作增强现实手术导航中手术器械的运动跟踪设备。
