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Continuous Feature-Based Tracking of the Inner Ear for Robot-Assisted Microsurgery

Marzi, Christian; Prinzen, Tom; Haag, Julia; Klenzner, Thomas; Mathis-Ullrich, Franziska

Abstract (englisch):
Robotic systems for surgery of the inner ear must enable highly precise movement in relation to the patient. To allow for a suitable collaboration between surgeon and robot, these systems should not interrupt the surgical workflow and integrate well in existing processes. As the surgical microscope is a standard tool, present in almost every microsurgical intervention and due to it being in close proximity to the situs, it is predestined to be extended by assistive robotic systems. For instance, a microscope-mounted laser for ablation. As both, patient and microscope are subject to movements during surgery, a well-integrated robotic system must be able to comply with these movements. To solve the problem of on-line registration of an assistance system to the situs, the standard of care often utilizes marker-based technologies, which require markers being rigidly attached to the patient. This not only requires time for preparation but also increases invasiveness of the procedure and the line of sight of the tracking system may not be obstructed. This work aims at utilizing the existing imaging system for detection of relative movements between the surgical microscope and the patient. ... mehr

Verlagsausgabe §
DOI: 10.5445/IR/1000140150
Veröffentlicht am 19.11.2021
DOI: 10.3389/fsurg.2021.742160
Cover der Publikation
Zugehörige Institution(en) am KIT Institut für Anthropomatik und Robotik (IAR)
Publikationstyp Zeitschriftenaufsatz
Publikationsdatum 19.11.2021
Sprache Englisch
Identifikator ISSN: 2296-875X
KITopen-ID: 1000140150
Erschienen in Frontiers in Surgery
Verlag Frontiers Media
Band 8
Seiten Article no: 742160
Schlagwörter tracking, feature-based, microscope, image-processing, inner ear, robotic surgery, cochlea implantation
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