Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery

Robotic systems for surgery of the inner ear must enable highly precise movement in relation to the patient. To allow for a suitable collaboration between surgeon and robot, these systems should not interrupt the surgical workflow and integrate well in existing processes. As the surgical microscope...

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Autores principales:	Christian Marzi, Tom Prinzen, Julia Haag, Thomas Klenzner, Franziska Mathis-Ullrich
Formato:	article
Lenguaje:	EN
Publicado:	Frontiers Media S.A. 2021
Materias:	tracking feature-based microscope image-processing inner ear robotic surgery Surgery RD1-811
Acceso en línea:	https://doaj.org/article/3ac33c3300bc496aa597e67274bf362f
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spelling	oai:doaj.org-article:3ac33c3300bc496aa597e67274bf362f2021-11-19T04:39:58ZContinuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery2296-875X10.3389/fsurg.2021.742160https://doaj.org/article/3ac33c3300bc496aa597e67274bf362f2021-11-01T00:00:00Zhttps://www.frontiersin.org/articles/10.3389/fsurg.2021.742160/fullhttps://doaj.org/toc/2296-875XRobotic systems for surgery of the inner ear must enable highly precise movement in relation to the patient. To allow for a suitable collaboration between surgeon and robot, these systems should not interrupt the surgical workflow and integrate well in existing processes. As the surgical microscope is a standard tool, present in almost every microsurgical intervention and due to it being in close proximity to the situs, it is predestined to be extended by assistive robotic systems. For instance, a microscope-mounted laser for ablation. As both, patient and microscope are subject to movements during surgery, a well-integrated robotic system must be able to comply with these movements. To solve the problem of on-line registration of an assistance system to the situs, the standard of care often utilizes marker-based technologies, which require markers being rigidly attached to the patient. This not only requires time for preparation but also increases invasiveness of the procedure and the line of sight of the tracking system may not be obstructed. This work aims at utilizing the existing imaging system for detection of relative movements between the surgical microscope and the patient. The resulting data allows for maintaining registration. Hereby, no artificial markers or landmarks are considered but an approach for feature-based tracking with respect to the surgical environment in otology is presented. The images for tracking are obtained by a two-dimensional RGB stream of a surgical microscope. Due to the bony structure of the surgical site, the recorded cochleostomy scene moves nearly rigidly. The goal of the tracking algorithm is to estimate motion only from the given image stream. After preprocessing, features are detected in two subsequent images and their affine transformation is computed by a random sample consensus (RANSAC) algorithm. The proposed method can provide movement feedback with up to 93.2 μm precision without the need for any additional hardware in the operating room or attachment of fiducials to the situs. In long term tracking, an accumulative error occurs.Christian MarziTom PrinzenJulia HaagThomas KlenznerFranziska Mathis-UllrichFrontiers Media S.A.articletrackingfeature-basedmicroscopeimage-processinginner earrobotic surgerySurgeryRD1-811ENFrontiers in Surgery, Vol 8 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	tracking feature-based microscope image-processing inner ear robotic surgery Surgery RD1-811
spellingShingle	tracking feature-based microscope image-processing inner ear robotic surgery Surgery RD1-811 Christian Marzi Tom Prinzen Julia Haag Thomas Klenzner Franziska Mathis-Ullrich Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
description	Robotic systems for surgery of the inner ear must enable highly precise movement in relation to the patient. To allow for a suitable collaboration between surgeon and robot, these systems should not interrupt the surgical workflow and integrate well in existing processes. As the surgical microscope is a standard tool, present in almost every microsurgical intervention and due to it being in close proximity to the situs, it is predestined to be extended by assistive robotic systems. For instance, a microscope-mounted laser for ablation. As both, patient and microscope are subject to movements during surgery, a well-integrated robotic system must be able to comply with these movements. To solve the problem of on-line registration of an assistance system to the situs, the standard of care often utilizes marker-based technologies, which require markers being rigidly attached to the patient. This not only requires time for preparation but also increases invasiveness of the procedure and the line of sight of the tracking system may not be obstructed. This work aims at utilizing the existing imaging system for detection of relative movements between the surgical microscope and the patient. The resulting data allows for maintaining registration. Hereby, no artificial markers or landmarks are considered but an approach for feature-based tracking with respect to the surgical environment in otology is presented. The images for tracking are obtained by a two-dimensional RGB stream of a surgical microscope. Due to the bony structure of the surgical site, the recorded cochleostomy scene moves nearly rigidly. The goal of the tracking algorithm is to estimate motion only from the given image stream. After preprocessing, features are detected in two subsequent images and their affine transformation is computed by a random sample consensus (RANSAC) algorithm. The proposed method can provide movement feedback with up to 93.2 μm precision without the need for any additional hardware in the operating room or attachment of fiducials to the situs. In long term tracking, an accumulative error occurs.
format	article
author	Christian Marzi Tom Prinzen Julia Haag Thomas Klenzner Franziska Mathis-Ullrich
author_facet	Christian Marzi Tom Prinzen Julia Haag Thomas Klenzner Franziska Mathis-Ullrich
author_sort	Christian Marzi
title	Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_short	Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_full	Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_fullStr	Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_full_unstemmed	Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery
title_sort	continuous feature-based tracking of the inner ear for robot-assisted microsurgery
publisher	Frontiers Media S.A.
publishDate	2021
url	https://doaj.org/article/3ac33c3300bc496aa597e67274bf362f
work_keys_str_mv	AT christianmarzi continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery AT tomprinzen continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery AT juliahaag continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery AT thomasklenzner continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery AT franziskamathisullrich continuousfeaturebasedtrackingoftheinnerearforrobotassistedmicrosurgery
_version_	1718420367699083264

Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery

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