Abstract
We have proposed a new interface for an wide-angle endoscope for solo surgery. The wide-angle arthroscopic view and magnified region of interest (ROI) within the wide view were shown simultaneously. With a camera affixed to surgical instruments, the position of the ROI could be determined by manipulating the surgical instrument. Image features acquired by the A-KAZE approach were used to estimate the change of position of the surgical instrument by tracking the features every time the camera moved. We examined the accuracy of ROI selection using three different images, which were different-sized square arrays and tested phantom experiments. When the number of ROIs was twelve, the success rate was best, and the rate diminished as the size of ROIs decreased. The experimental results showed that the method of using a camera without additional sensors satisfied the appropriate accuracy required for ROI selection, and this interface was helpful in performing surgery with fewer assistants.
Highlights
As minimally invasive surgery has become popular, the demand for arthroscopic surgery has increases
The experimental results showed that the method of using a camera without additional sensors satisfied the appropriate accuracy required for region of interest (ROI) selection, and this interface was helpful in performing surgery with fewer assistants
After a surgical instrument passed through a portal, the motion of the tool was determined with four kinds of degrees of freedom (DOF)
Summary
As minimally invasive surgery has become popular, the demand for arthroscopic surgery has increases. Communication problems between a camera assistant and surgeons can be reduced by utilizing a wide-angle arthroscope, because wider arthroscopic images make the surgery possible without frequent arthroscope maneuvers. An wide-angle endoscopic image for the intuitive perception of global anatomical structures is obtained by the wide-angle arthroscope, and a region of interest is magnified by digital zoom for a detailed operative view (Fig. 1). We attached a camera to the surgical tool to estimate the position changes and controlled ROI position in real time through image processing steps
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