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Carnegie Mellon Robotics Institute

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Abstract

An accurate three-dimensional optical sensing system to track the tip of a microsurgical instrument has been developed for laboratory use. The system is useful for evaluation of microsurgical instrument designs and devices for accuracy enhancement (both robotic devices and active hand-held instrument), as well as for assessment and training of micro-surgeons. It can also be used as a high-precision input interface to micro-surgical simulators. Tracking is done by illuminating the workspace at an infrared wavelength and using optical sensors to find the position of a small reflective ball at the instrument tip. The RMS noise per coordinate is presently 1 micron. Sample results are presented.

Keywords

microsurgery, accuracy, optical sensing, tremor

Notes

Sponsor: NSF

Grant ID: EEC-9731748

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Associated Project(s): ASAP

Text Reference

Lee Hotraphinyo and Cameron Riviere, "Precision measurement for microsurgical instrument evaluation," Proceedings 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3454-3457.

BibTeX Reference

@inproceedings{Hotraphinyo_2001_4089,
   author = "Lee Hotraphinyo and Cameron Riviere",
   title = "Precision measurement for microsurgical instrument evaluation",
   booktitle = "Proceedings 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society",
   pages = "3454-3457",
   month = "October",
   year = "2001",
}

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