Skip to main content
SpringerLink
Log in

Towards image guided robotic surgery: multi-arm tracking through hybrid localization

  • Original Article
  • Published:
International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Objective

Use of the robotic assisted surgery has been increasing in recent years, due both the continuous increase in the number of applications and the clinical benefits that surgical robots can provide. Currently robotic assisted surgery relies on endoscopic video for navigation, providing only surface visualization, thus limiting subsurface vision. To be able to visualize and identify subsurface information, techniques in image-guidance can be used. As part of designing an image guidance system, all arms of the robot need to be co-localized in a common coordinate system.

Methods

In order to track multiple arms in a common coordinate space, intrinsic and extrinsic tracking methods can be used. First, the intrinsic tracking of the daVinci, specifically of the setup joints is analyzed. Because of the inadequacy of the setup joints for co-localization a hybrid tracking method is designed and implemented to mitigate the inaccuracy of the setup joints. Different both optical and magnetic tracking methods are examined for setup joint localization.

Results

The hybrid localization method improved the localization accuracy of the setup joints. The inter-arm accuracy in hybrid localization was improved to 3.02 mm. This inter-arm error value was shown to be further reduced when the arms are co-registered, thus reducing common error.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Birkfellner W, Watzinger F, Wanschitz F, Enislidis G, Kollmann C, Rafolt D, Nowotny R (1998) Systematic distortions in magnetic position digitizers. Med Phys 25(11): 2242–2248

    Article  PubMed  CAS  Google Scholar 

  2. Denavit J, Hartenberg R (1955) A kinematic notation for lower-pair mechanisms based on matrices. Trans ASME J Appl Mech 23: 215–221

    Google Scholar 

  3. Diodato MSP, Klingensmith M, Damiano R (2004) Robotics in surgery. Curr Probl Surg 41(9): 752–810

    Article  PubMed  Google Scholar 

  4. Fitzpatrick JM, West JB (2001) The distribution of target registration error in rigid-body point-based registration. IEEE Trans Med Imaging 20(9): 917–927

    Article  PubMed  CAS  Google Scholar 

  5. Fitzpatrick JM, West JB, Maurer CRJ (1998) Predicting error in rigid-body point-based registration. IEEE Trans Med Imaging 17(5): 694–702

    Article  PubMed  CAS  Google Scholar 

  6. Frantz DD, Wiles AD, Leis SE, Kirsch SR (2003) Accuracy assessment protocols for electromagnetic tracking systems. Phys Med Biol 48(14): 2241–2251

    Article  PubMed  CAS  Google Scholar 

  7. Kapoor A, Taylor R (2008) A constrained optimization approach to virtual fixtures for multi-handed tasks. In: IEEE international conference on robotics and automation. ICRA 2008, pp 3401–3406. doi:10.1109/ROBOT.2008.4543730

  8. Kim HL, Schulam P (2004) The paky, hermes, aesop, zeus, and da vinci robotic systems. Urol Clin North Am 31(4): 659–669

    Article  PubMed  Google Scholar 

  9. Kwartowitz D, Galloway R, Shiavi R (2009) Determining the presence of bias error using statistical methods. IEEE Trans Inf Technol Biomed 13(1): 1–4

    Article  PubMed  Google Scholar 

  10. Kwartowitz D, Herrell S, Galloway R (2007) Update: toward image-guided robotic surgery: determining the intrinsic accuracy of the davinci-s robot. Int J Comput Assist Radiol Surg 1(5): 301–304

    Article  Google Scholar 

  11. Kwartowitz DM, Herrell SD, Galloway RL (2006) Toward image-guided robotic surgery: determining intrinsic accuracy of the da vinci robot. Int J Comput Assist Radiol Surg 1(3): 157–165

    Article  Google Scholar 

  12. Lam JS, Bergman J, Breda A, Schulam PG (2008) Importance of surgical margins in the management of renal cell carcinoma. Nat Clin Pract Urol 5(6):308–317, 1743–4270. doi:10.1038/ncpuro1121

    Google Scholar 

  13. Rosen II, Lane RG, Kelsey CA (1979) Accuracy of a two-sensor sonic digitizer. Med Phys 6(6): 536–538. doi:10.1118/1.594618. URL: http://link.aip.org/link/?MPH/6/536/1

    Article  PubMed  CAS  Google Scholar 

  14. Stefansic JD, Bass WA, Hartmann SL, Beasley RA, Sinha TK, Cash DM, Herline AJ, Galloway RL (2002) Design and implementation of a pc-based image-guided surgical system. Comput Meth Prog Biomed 69(3): 211–224

    Article  Google Scholar 

  15. Wagner A, Schicho K, Birkfellner W, Figl M, Seemann R, Konig F, Kainberger F, Ewers R (2002) Quantitative analysis of factors affecting intraoperative precision and stability of optoelectronic and electromagnetic tracking systems. Med Phys 29(5): 905–912

    Article  PubMed  CAS  Google Scholar 

  16. Wiles A, Thompson D, Frantz D (2004) Accuracy assessment and interpretation for optical tracking systems. In: SPIE: Medical Imaging. SPIE, San Diego

Download references

Author information

Author notes

  1. David Morgan Kwartowitz

    Present address: Biomedical Imaging Resource, Mayo Clinic, Rochester, MN, USA

Authors and Affiliations

  1. Department of Biomedical Engineering, Vanderbilt University, Nashville, TN, USA

    David Morgan Kwartowitz, Michael I. Miga & Robert L. Galloway

  2. Department of Urology, Vanderbilt University, Nashville, TN, USA

    S. Duke Herrell

  3. Department of Surgery, Vanderbilt University, Nashville, TN, USA

    Robert L. Galloway

  4. Department of Neurological Surgery, Vanderbilt University, Nashville, TN, USA

    Robert L. Galloway

Authors
  1. David Morgan Kwartowitz
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Michael I. Miga
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. S. Duke Herrell
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Robert L. Galloway
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to David Morgan Kwartowitz.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Kwartowitz, D.M., Miga, M.I., Herrell, S.D. et al. Towards image guided robotic surgery: multi-arm tracking through hybrid localization. Int J CARS 4, 281–286 (2009). https://doi.org/10.1007/s11548-009-0294-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s11548-009-0294-1

Keywords

Search

Navigation