Biocompatible Near-Infrared Three-Dimensional Tracking System.
biomechanical · Level V
Where this comes from
- Record sourced from PubMed, PMID 28129145.
- Also identified by DOI 10.1109/TBME.2017.2656803 and PMC identifier 5419048.
- Licence recorded as CC BY.
- The licence permits redistribution, so the abstract is shown in full and the full text is available from the publisher.
Abstract
A fundamental challenge in soft-tissue surgery is that target tissue moves and deforms, becomes occluded by blood or other tissue, and is difficult to differentiate from surrounding tissue. We developed small biocompatible near-infrared fluorescent (NIRF) markers with a novel fused plenoptic and NIR camera tracking system, enabling three-dimensional tracking of tools and target tissue while overcoming blood and tissue occlusion in the uncontrolled, rapidly changing surgical environment. In this work, we present the tracking system and marker design and compare tracking accuracies to standard optical tracking methods using robotic experiments. At speeds of 1 mm/s, we observe tracking accuracies of 1.61 mm, degrading only to 1.71 mm when the markers are covered in blood and tissue.
Medical subject headings
- Biocompatible Materials
- Fiducial Markers
- Imaging, Three-Dimensional
- Indocyanine Green
- Infrared Rays
- Surgery, Computer-Assisted