Intraoperative Navigation of an Optically Tracked Surgical Robot

Authors:
Jordi Cornellà;Ole Jakob Elle;Wajid Ali;Eigil Samset
Affiliations:
The Interventional Centre, Rikshospitalet University Hospital, Oslo, Norway and University of Oslo, Oslo, Norway;The Interventional Centre, Rikshospitalet University Hospital, Oslo, Norway and University of Oslo, Oslo, Norway;The Interventional Centre, Rikshospitalet University Hospital, Oslo, Norway;The Interventional Centre, Rikshospitalet University Hospital, Oslo, Norway and University of Oslo, Oslo, Norway
Venue:
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Year:
2008

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Abstract

This paper presents an adaptive control scheme for improving the performance of a surgical robot when it executes tasks autonomously. A commercial tracking system is used to correlate the robot with the preoperative plan as well as to correct the position of the robot when errors between the real and planned positions are detected. Due to the noisy signals provided by the tracking system, a Kalman filter is proposed to smooth the variations and to increase the stability of the system. The efficiency of the approach has been validated using rigid and flexible endoscopic tools, obtaining in both cases that the target points can be reached with an error less than 1mm. These results make the approach suitable for a range of abdominal procedures, such as autonomous repositioning of endoscopic tools or probes for percutaneous procedures.