Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments
Purpose Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of...
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| Published in | International journal for computer assisted radiology and surgery Vol. 13; no. 2; pp. 241 - 251 |
|---|---|
| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Cham
Springer International Publishing
01.02.2018
Springer Nature B.V |
| Subjects | |
| Online Access | Get full text |
| ISSN | 1861-6410 1861-6429 1861-6429 |
| DOI | 10.1007/s11548-017-1672-8 |
Cover
| Abstract | Purpose
Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation.
Methods
We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved.
Results
Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is
2.07
±
0.71
mm, while the maximum error is 3.2 mm.
Conclusion
The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method. |
|---|---|
| AbstractList | Purpose
Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation.
Methods
We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved.
Results
Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is
2.07
±
0.71
mm, while the maximum error is 3.2 mm.
Conclusion
The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method. Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation.PURPOSEFlexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation.We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved.METHODSWe use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved.Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm.RESULTSUsing the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm.The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method.CONCLUSIONThe proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method. Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation. We use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved. Using the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is [Formula: see text] mm, while the maximum error is 3.2 mm. The proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method. PurposeFlexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize flexible manipulators in complicated and constrained surgical environments, it is of great significance to monitor the position and shape of the curvilinear manipulator in real time during the procedures. In this paper, we propose a magnetic tracking-based planar shape sensing and navigation system for flexible surgical robots in the transoral surgery. The system can provide the real-time tip position and shape information of the robot during the operation.MethodsWe use wire-driven flexible robot to serve as the manipulator. It has three degrees of freedom. A permanent magnet is mounted at the distal end of the robot. Its magnetic field can be sensed with a magnetic sensor array. Therefore, position and orientation of the tip can be estimated utilizing a tracking method. A shape sensing algorithm is then carried out to estimate the real-time shape based on the tip pose. With the tip pose and shape display in the 3D reconstructed CT model, navigation can be achieved.ResultsUsing the proposed system, we carried out planar navigation experiments on a skull phantom to touch three different target positions under the navigation of the skull display interface. During the experiments, the real-time shape has been well monitored and distance errors between the robot tip and the targets in the skull have been recorded. The mean navigation error is 2.07±0.71 mm, while the maximum error is 3.2 mm.ConclusionThe proposed method provides the advantages that no sensors are needed to mount on the robot and no line-of-sight problem. Experimental results verified the feasibility of the proposed method. |
| Author | Liu, Li Song, Shuang Zhang, Changchun Meng, Max Q.-H. |
| Author_xml | – sequence: 1 givenname: Shuang orcidid: 0000-0002-3490-9752 surname: Song fullname: Song, Shuang email: songshuang@hit.edu.cn organization: Harbin Institute of Technology (Shenzhen) – sequence: 2 givenname: Changchun surname: Zhang fullname: Zhang, Changchun organization: Harbin Institute of Technology (Shenzhen) – sequence: 3 givenname: Li surname: Liu fullname: Liu, Li email: li.liu@szu.edu.cn organization: Shenzhen University Health Science Center – sequence: 4 givenname: Max Q.-H. surname: Meng fullname: Meng, Max Q.-H. organization: The Chinese University of Hong Kong |
| BackLink | https://www.ncbi.nlm.nih.gov/pubmed/28983750$$D View this record in MEDLINE/PubMed |
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| References_xml | – reference: PalliGPirozziSA miniaturized optical force sensor for tendondriven mechatronic systems: design and experimental evaluationMechatronics20122281097111110.1016/j.mechatronics.2012.09.005 – reference: RuckerDCWebsterRJStatics and dynamics of continuum robots with general tendon routing and external loadingRobot IEEE Trans20112761033104410.1109/TRO.2011.2160469 – reference: XuKSimaanNAnalytic formulation for kinematics, statics, and shape restoration of multibackbone continuum robots via elliptic integralsJ Mech Robot201021011,00610.1115/1.4000519 – reference: HenkenKVan GerwenDDankelmanJVan Den DobbelsteenJAccuracy of needle position measurements using fiber bragg gratingsMinim Invasive Ther Allied Technol201221640841410.3109/13645706.2012.66625122455615 – reference: FranzAMHaideggerTBirkfellnerWClearyKPetersTMMaier-HeinLElectromagnetic tracking in medicinea review of technology, validation, and applicationsIEEE Trans Med Imaging20143381702172510.1109/TMI.2014.232177724816547 – reference: Roesthuis RJ, Abayazid M, Misra S (2012) Mechanics-based model for predicting in-plane needle detection with multiple bends. 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Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize... Flexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize... PurposeFlexible surgical robot can work in confined and complex environments, which makes it a good option for minimally invasive surgery. In order to utilize... |
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| SubjectTerms | Computer Imaging Computer Science Detection Experiments Flexible manipulators Health Informatics Imaging Medicine Medicine & Public Health Navigation systems Original Article Pattern Recognition and Graphics Position sensing Radiology Robot arms Robotic surgery Robots Sensor arrays Skull Surgery Telesurgery Three dimensional models Vision |
| Title | Preliminary study on magnetic tracking-based planar shape sensing and navigation for flexible surgical robots in transoral surgery: methods and phantom experiments |
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