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Related Experiment Video

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Tremor Assessment in Robot-Assisted Microlaryngeal Surgery Using Computer Vision-Based Tool Tracking.

Sue M Cho1, Henry H Joo2, Pranathi Golla3

  • 1Department of Computer Science, Johns Hopkins, Baltimore, Maryland, USA.

Otolaryngology--Head and Neck Surgery : Official Journal of American Academy of Otolaryngology-Head and Neck Surgery
|March 15, 2024
PubMed
Summary

Robot assistance significantly reduces surgical instrument tremor during simulated microlaryngeal procedures. Computer vision analysis confirmed decreased tremor with robotic tools compared to freehand, enhancing precision.

Keywords:
nnU‐Netrobotic surgerysurgical tool trackingtremor

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Area of Science:

  • Laryngeal surgery
  • Robotic surgery
  • Surgical technology

Background:

  • Minimally invasive laryngeal surgery requires high precision.
  • Instrument tremor can compromise surgical outcomes.
  • Objective quantification of tremor is crucial for evaluating surgical tools.

Purpose of the Study:

  • To investigate the impact of robot assistance on surgical instrument tremor.
  • To utilize microscopic video-based tracking and computer vision for tremor analysis.
  • To compare tremor metrics between robot-assisted and freehand surgical instruments.

Main Methods:

  • A randomized cross-over trial involving 6 surgeons performing cordectomies on cadaveric pig larynges.
  • Recording surgical instrument motion under three conditions: freehand, robot-assisted scissors, and robot-assisted graspers.
  • Employing computer vision algorithms to track instruments and quantify tremor using absolute tremor bandpower and normalized path length.

Main Results:

  • Robot assistance significantly decreased absolute tremor bandpower and normalized path length compared to freehand instruments (P=.012 and P=.001, respectively).
  • Robot-assisted scissors showed significant reductions in both tremor metrics (P=.002 and P<.001).
  • Robot-assisted graspers demonstrated a significant reduction in normalized path length (P=.03) but not absolute tremor bandpower (P=.4).

Conclusions:

  • Computer-vision-based tracking is effective for assessing tool motion in simulated microlaryngeal procedures.
  • Robot assistance demonstrates a capability to reduce instrument tremor during these procedures.
  • Findings suggest potential benefits of robotic systems for improving precision in laryngeal surgery.