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首页> 外文会议>BMEI 2012;International Conference on Biomedical Engineering and Informatics >Clinical motion tracking and motion analysis during ophthalmic surgery using electromagnetic tracking system
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Clinical motion tracking and motion analysis during ophthalmic surgery using electromagnetic tracking system

机译：使用电磁跟踪系统的眼科手术中的临床运动跟踪和运动分析

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摘要

To design compact and precise robotic devices for medical applications one of the most important initial steps is choosing suitable actuators. In typical situations there is a tradeoff between working volume and precision. This trade-off and decision making is more serious in micro scale operations like ophthalmic surgeries. This paper analyzes the surgeons' motion during vitreo-retinal operation under clinical circumstances. The tracking system comprises an electromagnetic system to capture the surgical tool motion in 6 DOF and a coupled camera to keep the procedure under observation for the purpose of data validation. The contribution of this paper is divided to two folds: first is the precise definition of working volume and trajectories during ophthalmic surgery for robotic design optimization. This data will be used to define the parameters of actuators such as velocity, precision and travel range in design phase and will also be utilized for validation of the robot motion in further steps. The second contribution of this paper is the experimental setup which is extendable for observation of other micromanipulation applications such as ear surgery or cell injection.
机译：为了设计用于医疗应用的紧凑而精确的机器人设备，最重要的初始步骤之一就是选择合适的执行器。在典型情况下，需要在工作量和精度之间进行权衡。这种权衡和决策在眼科手术等微型手术中更为严重。本文分析了临床情况下玻璃体视网膜手术中外科医生的运动情况。跟踪系统包括一个电磁系统，用于捕获手术工具在6自由度中的运动，以及一个耦合的摄像头，以确保对程序进行观察以进行数据验证。本文的贡献分为两个方面：首先是精确定义眼科手术期间的工作量和轨迹，以优化机器人设计。该数据将在设计阶段用于定义执行器的参数，例如速度，精度和行进范围，还将在以后的步骤中用于验证机器人的运动。本文的第二个贡献是实验设置，该设置可扩展用于观察其他显微操作应用，例如耳部手术或细胞注射。

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