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Orthogonal cameras system for tracking of laparoscopic instruments in training environments
Fernando Pérez-Escamirosa1, Ignacio Oropesa2, Patricia Sánchez-González2,3
1Department of Surgery, Faculty of Medicine, Universidad Nacional Autónoma de México (UNAM), Ciudad de México, Mexico.
Introduction:
Motion analysis is a valuable tool for assessment of psychomotor skills in laparoscopy. Nonetheless, it requires technologies for tracking the activity of the laparoscopic instruments during training. This paper presents a sensor-free system to track the movements of laparoscopic instruments based on an orthogonal camera system and video image processing.
Methods:
The movements of the laparoscopic instruments are tracked with two webcams placed in an orthogonal configuration. The position and orientation in the three-dimensional workspace are obtained using color markers placed on the tip of the instruments.
Results:
Accuracy tests show a resolution of 0.14 mm for displacement, with 1694 cm3 of total workspace, and 0.54° in the angular movements. Mean relative errors of the tracking system were <1%. The orthogonal cameras show high precision, linearity, and repeatability of motion recording of the laparoscopic instruments.
Conclusion:
The proposed system offers unconstrained manipulation of the instruments and a low-cost alternative for traditional tracking technologies.
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