gms | German Medical Science

79. Jahresversammlung der Deutschen Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V.

Deutsche Gesellschaft für Hals-Nasen-Ohren-Heilkunde, Kopf- und Hals-Chirurgie e. V.

30.04. - 04.05.2008, Bonn

Analysis of Endoscopic Guidance during FESS for Path Planning of an Assisting Surgery Robot

Meeting Abstract

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  • corresponding author Klaus W.G. Eichhorn - Clinic und Policlinic of Otolaryngology/ Ear, Nose and Throat Surgery, University of Bonn, Bonn, Germany
  • Markus Rilk - Institute of Robotics and Process Control, Technical University of Braunschweig, Braunschweig, Germany
  • Ralf Westphal - Institute of Robotics and Process Control, Technical University of Braunschweig, Braunschweig, Germany
  • Ingo Wagner - Clinic und Policlinic of Otolaryngology/ Ear, Nose and Throat Surgery, University of Bonn, Bonn, Germany

German Society of Oto-Rhino-Laryngology, Head and Neck Surgery. 79th Annual Meeting of the German Society of Oto-Rhino-Laryngology, Head and Neck Surgery. Bonn, 30.04.-04.05.2008. Düsseldorf, Köln: German Medical Science; 2008. Doc08hno66

Die elektronische Version dieses Artikels ist vollständig und ist verfügbar unter: http://www.egms.de/de/meetings/hno2008/08hno66.shtml

Veröffentlicht: 8. Juli 2008

© 2008 Eichhorn et al.
Dieser Artikel ist ein Open Access-Artikel und steht unter den Creative Commons Lizenzbedingungen (http://creativecommons.org/licenses/by-nc-nd/3.0/deed.de). Er darf vervielf&aauml;ltigt, verbreitet und &oauml;ffentlich zug&aauml;nglich gemacht werden, vorausgesetzt dass Autor und Quelle genannt werden.


Gliederung

Text

Background: In order to relieve the surgeon during functional endoscopic endonasal sinus surgery (FESS), the endoscope guidance should be performed by an autonomic assisting robot. A step to this is the in vivo evaluation of endoscope movements with help of navigation tools, endoscopic images, and force sensors during conventional FESS.

Methods: We used a novel customised software to record more than 20,000 positions and orientations of the endoscope with the help of a navigation system as well as endoscopic images and forces occurring at the endoscope. The software provides a synchronous view of the recorded data and tools for statistical analysis. It also allows to show the 3D working space of the endoscope as well as the pivot area located at the nasal entrance.

Results: Besides the visualisation of the endoscope working space, we determined cuboids that describe likely positions of the endoscope tip: At 99.99% of the time the endoscope tip is located within a cuboid of the size 49.54 mm x 40.94 mm x 12.01 mm. At 50% of the time the tip is within the much smaller cuboid of 16.59 mm x 11.38 mm x 6.30 mm. The pivot area can be described by a 2D Gaussian distribution with standard deviations of 3.45 mm in the direction of the principal axis and 2.02 mm for the minor axis. For example 50% of the intersection points between the pivot area and the endoscope axis are within an ellipsoid of 3.93 mm x 2.31 mm. Therefore, robots that use a pivot point to simplify the kinematics are not sufficient for this task.

Conclusion: With the help of navigation and sensor data of the endoscope we are able to determine the spatial probability distribution of the endoscope to develop a save and intuitive robotic assistance for endoscope guidance in the nasal cavity during FESS.