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Vision-based Tracking of Surgical Motion during Live Open-Heart Surgery

Stenmark, Maj LU ; Omerbašić, Edin ; Magnusson, Måns ; Andersson, Viktor ; Abrahamsson, Martin and Tran, Phan-kiet LU (2022) In Journal of Surgical Research 271. p.106-116
Abstract
Abstract
Background
Motion tracking during live surgeries may be used to assess surgeons’ intra-operative performance, provide feedback, and predict outcome. Current assessment protocols rely on human observations, controlled laboratory settings, or tracking technologies not suitable for live operating theatres. In this study, a novel method for motion tracking of live open-heart surgery was developed, and evaluated.

Materials and methods
Three-D-printed ‘tracking die’ with miniature markers were fitted to DeBakey forceps. The surgical field was recorded with a video camera mounted above the operating table. Software was developed for tracking the die from the recordings. The system was tested on five open-heart... (More)
Abstract
Background
Motion tracking during live surgeries may be used to assess surgeons’ intra-operative performance, provide feedback, and predict outcome. Current assessment protocols rely on human observations, controlled laboratory settings, or tracking technologies not suitable for live operating theatres. In this study, a novel method for motion tracking of live open-heart surgery was developed, and evaluated.

Materials and methods
Three-D-printed ‘tracking die’ with miniature markers were fitted to DeBakey forceps. The surgical field was recorded with a video camera mounted above the operating table. Software was developed for tracking the die from the recordings. The system was tested on five open-heart procedures. Surgeons were asked to report subjective system related concerns during live surgery and assess the weight of the die on blind test. The accuracy of the system was evaluated against ground truth generated by a robot.

Results
The 3D-printed die weighed 6 g and tolerated sterilization with hydrogen peroxide, which added approximately 13% to the mass of the forceps. Surgeons sensed a shift in the balance of the instrument but could on blind test not correctly verify changes in weight. When two or more markers were detected, the 3D position estimate was on average within 2-3 mm, and 1.1-2.6 degrees from ground truth. Computational time was 30-50 ms per frame on a standard laptop.

Conclusions
The vision-based motion tracking system was applicable for live surgeries with negligible inconvenience to the surgeons. Motion data was extracted with acceptable accuracy and speed at low computational cost. (Less)
Please use this url to cite or link to this publication:
author
; ; ; ; and
organization
publishing date
type
Contribution to journal
publication status
published
subject
in
Journal of Surgical Research
volume
271
pages
106 - 116
publisher
Elsevier
external identifiers
  • scopus:85120913000
  • pmid:34879315
ISSN
1095-8673
DOI
10.1016/j.jss.2021.10.025
language
English
LU publication?
yes
id
9fc0be1d-cf7c-4e2e-a2af-b4b5ccb62ad8
date added to LUP
2021-12-09 10:01:47
date last changed
2022-04-19 18:33:51
@article{9fc0be1d-cf7c-4e2e-a2af-b4b5ccb62ad8,
  abstract     = {{Abstract<br/>Background<br/>Motion tracking during live surgeries may be used to assess surgeons’ intra-operative performance, provide feedback, and predict outcome. Current assessment protocols rely on human observations, controlled laboratory settings, or tracking technologies not suitable for live operating theatres. In this study, a novel method for motion tracking of live open-heart surgery was developed, and evaluated.<br/><br/>Materials and methods<br/>Three-D-printed ‘tracking die’ with miniature markers were fitted to DeBakey forceps. The surgical field was recorded with a video camera mounted above the operating table. Software was developed for tracking the die from the recordings. The system was tested on five open-heart procedures. Surgeons were asked to report subjective system related concerns during live surgery and assess the weight of the die on blind test. The accuracy of the system was evaluated against ground truth generated by a robot.<br/><br/>Results<br/>The 3D-printed die weighed 6 g and tolerated sterilization with hydrogen peroxide, which added approximately 13% to the mass of the forceps. Surgeons sensed a shift in the balance of the instrument but could on blind test not correctly verify changes in weight. When two or more markers were detected, the 3D position estimate was on average within 2-3 mm, and 1.1-2.6 degrees from ground truth. Computational time was 30-50 ms per frame on a standard laptop.<br/><br/>Conclusions<br/>The vision-based motion tracking system was applicable for live surgeries with negligible inconvenience to the surgeons. Motion data was extracted with acceptable accuracy and speed at low computational cost.}},
  author       = {{Stenmark, Maj and Omerbašić, Edin and Magnusson, Måns and Andersson, Viktor and Abrahamsson, Martin and Tran, Phan-kiet}},
  issn         = {{1095-8673}},
  language     = {{eng}},
  month        = {{03}},
  pages        = {{106--116}},
  publisher    = {{Elsevier}},
  series       = {{Journal of Surgical Research}},
  title        = {{Vision-based Tracking of Surgical Motion during Live Open-Heart Surgery}},
  url          = {{http://dx.doi.org/10.1016/j.jss.2021.10.025}},
  doi          = {{10.1016/j.jss.2021.10.025}},
  volume       = {{271}},
  year         = {{2022}},
}