Estimation of tool pose based on force-density correlation during robotic drilling

Williamson, Tom; Bell, Brett; Gerber, Nicolas; Brogna Salas, Angie Lilibeth; Zysset, Philippe; Caversaccio, Marco; Weber, Stefan (2013). Estimation of tool pose based on force-density correlation during robotic drilling. IEEE transactions on biomedical engineering, 60(4), pp. 969-976. Institute of Electrical and Electronics Engineers IEEE 10.1109/TBME.2012.2235439

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The application of image-guided systems with or without support by surgical robots relies on the accuracy of the navigation process, including patient-to-image registration. The surgeon must carry out the procedure based on the information provided by the navigation system, usually without being able to verify its correctness beyond visual inspection. Misleading surrogate parameters such as the fiducial registration error are often used to describe the success of the registration process, while a lack of methods describing the effects of navigation errors, such as those caused by tracking or calibration, may prevent the application of image guidance in certain accuracy-critical interventions. During minimally invasive mastoidectomy for cochlear implantation, a direct tunnel is drilled from the outside of the mastoid to a target on the cochlea based on registration using landmarks solely on the surface of the skull. Using this methodology, it is impossible to detect if the drill is advancing in the correct direction and that injury of the facial nerve will be avoided. To overcome this problem, a tool localization method based on drilling process information is proposed. The algorithm estimates the pose of a robot-guided surgical tool during a drilling task based on the correlation of the observed axial drilling force and the heterogeneous bone density in the mastoid extracted from 3-D image data. We present here one possible implementation of this method tested on ten tunnels drilled into three human cadaver specimens where an average tool localization accuracy of 0.29 mm was observed.

Item Type:

Journal Article (Original Article)

Division/Institute:

10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Image Guided Therapy
04 Faculty of Medicine > Department of Head Organs and Neurology (DKNS) > Clinic of Ear, Nose and Throat Disorders (ENT)
04 Faculty of Medicine > Pre-clinic Human Medicine > Institute for Surgical Technology & Biomechanics ISTB
10 Strategic Research Centers > ARTORG Center for Biomedical Engineering Research > ARTORG Center - Image Guided Therapy > ARTORG Center - Artificial Hearing Research

UniBE Contributor:

Williamson, Tom; Bell, Brett; Gerber, Nicolas; Brogna Salas, Angie Lilibeth; Zysset, Philippe; Caversaccio, Marco and Weber, Stefan

Subjects:

600 Technology > 610 Medicine & health
500 Science > 570 Life sciences; biology

ISSN:

0018-9294

Publisher:

Institute of Electrical and Electronics Engineers IEEE

Language:

English

Submitter:

Martin Kompis

Date Deposited:

07 Mar 2014 10:25

Last Modified:

07 Apr 2014 21:34

Publisher DOI:

10.1109/TBME.2012.2235439

PubMed ID:

23269744

URI:

https://boris.unibe.ch/id/eprint/43572

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