Fattahi Sani, M., Abeywardena, S., Psomopoulou, E. et al. (2 more authors) (2020) Towards finger motion tracking and analyses for cardiac surgery. In: Henriques, J., Neves, N. and de Carvalho, P., (eds.) XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019. XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019, 26-28 Sep 2019, Coimbra, Portugal. IFMBE Proceedings . Springer Nature Switzerland AG , pp. 1515-1525. ISBN 9783030316341
Abstract
Robot Assisted Surgery is attracting increasing amount of attention as it offers numerous benefits to patients as well as surgeons. Heart surgery requires a high level of precision and dexterity, in contrast to other surgical specialties. Robot assisted heart surgery is not as widely performed due to numerous reasons including a lack of appropriate and intuitive surgical interfaces to control minimally invasive surgical tools. In this paper, finger motion of the surgeon is analyzed during cardiac surgery tasks on an ex-vivo animal model with the purpose of designing a more intuitive master console. First, a custom finger tracking system is developed using IMU sensors, which is lightweight and comfortable enough to allow free movement of the surgeon’s fingers/hands while using instruments. The proposed system tracks finger joint angles and fingertip positions for three involved fingers (thumb, index, middle). Accuracy of the IMU sensors has been evaluated using an optical tracking system (Polaris, NDI). Finger motion of the cardiac surgeon while using a Castroviejo instrument is studied in suturing and knotting scenarios. The results show that PIP and MCP joints have larger Range Of Motion (ROM), and faster rate of change compared to other finger/thumb joints, while thumb has the largest Fingertip WorkSpace (FWS) of all three digits.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Editors: |
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Copyright, Publisher and Additional Information: | © 2020 Springer Nature Switzerland AG. This is an author-produced version of a paper subsequently published in Proceedings of MEDICON 2019. Uploaded in accordance with the publisher's self-archiving policy. |
Keywords: | Robot Assisted Surgery; Finger Tracking; Cardiac surgery |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Funding Information: | Funder Grant number European Commission Directorate-General for Research and Innovation 732515 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 06 Jan 2022 07:54 |
Last Modified: | 06 Jan 2022 07:54 |
Status: | Published |
Publisher: | Springer Nature Switzerland AG |
Series Name: | IFMBE Proceedings |
Refereed: | Yes |
Identification Number: | 10.1007/978-3-030-31635-8_188 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:181954 |