Precision measurement for microsurgical instrument evaluation - Robotics Institute Carnegie Mellon University

Precision measurement for microsurgical instrument evaluation

Lee Hotraphinyo and Cameron Riviere
Conference Paper, Proceedings of 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '01), pp. 3454 - 3457, October, 2001

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.

BibTeX

@conference{Hotraphinyo-2001-8320,
author = {Lee Hotraphinyo and Cameron Riviere},
title = {Precision measurement for microsurgical instrument evaluation},
booktitle = {Proceedings of 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '01)},
year = {2001},
month = {October},
pages = {3454 - 3457},
keywords = {microsurgery, accuracy, optical sensing, tremor},
}