Workspace and pivot point for robot‐assisted endoscope guidance in functional endonasal sinus surgery (FESS). Issue 1 (18th June 2014)

• Record Type: Journal Article
• Authors: Eichhorn, Klaus Wolfgang; Westphal, Ralf; Last, Carsten; Rilk, Markus; Bootz, Friedrich; Wahl, Friedrich M.; Jakob, Mark
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 11:Issue 1(2015)
• Page Start: 30
• Page End: 37
• Publication Date: 2014-06-18
• Subjects: Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1599
• Languages: English
• ISSNs: 1478-5951

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <sec id="rcs1599-sec-0001" sec-type="section"> <title>Background</title> <p>For the further development of robot‐assisted endoscope guidance in functional endoscopic sinus surgery (FESS), ground data about the workspaces and endoscope movements in conventional FESS are needed.</p> </sec> <sec id="rcs1599-sec-0002" sec-type="section"> <title>Methods</title> <p>Applying a self‐developed marker‐based tracking system, we collected the pose data (position and orientation) of the endoscope and all other instruments used in five real sinus surgeries.</p> </sec> <sec id="rcs1599-sec-0003" sec-type="section"> <title>Results</title> <p>The automated segmentation of the endoscope poses shows the shape of a hourglass, with a pivot region or pivot point at the 'waistline' of the hourglass, close to the nasal entrance in the nasal dome.</p> </sec> <sec id="rcs1599-sec-0004" sec-type="section"> <title>Conclusion</title> <p>We were able to identify a pivot point at the waistline of the segmented endoscope poses. The size of the pivot point corresponds with the diameter of the 4 mm endoscope. Because of the reduction to four degrees of freedom for endoscope motions (three rotations and one translation), easier and safer robot‐assisted endoscope guidance becomes feasible. Copyright © 2014 John Wiley &amp; Sons, Ltd.</p> </sec> </abstract>