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Workspace and pivot point for robot‐assisted endoscope guidance in functional endonasal sinus surgery (FESS)
Author(s) -
Eichhorn Klaus Wolfgang,
Westphal Ralf,
Last Carsten,
Rilk Markus,
Bootz Friedrich,
Wahl Friedrich M.,
Jakob Mark
Publication year - 2015
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1599
Subject(s) - endoscope , computer vision , workspace , artificial intelligence , computer science , functional endoscopic sinus surgery , point (geometry) , segmentation , robot , surgery , medicine , mathematics , geometry , sinusitis
Abstract Background For the further development of robot‐assisted endoscope guidance in functional endoscopic sinus surgery (FESS), ground data about the workspaces and endoscope movements in conventional FESS are needed. Methods Applying a self‐developed marker‐based tracking system, we collected the pose data (position and orientation) of the endoscope and all other instruments used in five real sinus surgeries. Results The automated segmentation of the endoscope poses shows the shape of a hourglass, with a pivot region or pivot point at the 'waistline' of the hourglass, close to the nasal entrance in the nasal dome. Conclusion We were able to identify a pivot point at the waistline of the segmented endoscope poses. The size of the pivot point corresponds with the diameter of the 4 mm endoscope. Because of the reduction to four degrees of freedom for endoscope motions (three rotations and one translation), easier and safer robot‐assisted endoscope guidance becomes feasible. Copyright © 2014 John Wiley & Sons, Ltd.