Jessica Trac, Jonguk Lee, Kai-Ho Fok, Brian Carrillo, Monica A. Farcas
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引用次数: 0
Abstract
Introduction: Hand/instrument motion-tracking in surgical simulation provides valuable data to improve psychomotor skills and can serve as a formative evaluation tool. Motion analysis has been well-studied in laparoscopic surgery; however, there are essentially no studies looking at motion-tracking for flexible ureteroscopy (fURS), a common surgical procedure requiring hand dexterity and 3D spatial awareness. We aimed to design a synchronized motion-tracking and video capture system for fURS capable of collecting objective metrics for use in surgical skills training.
Methods: Motion tracking of the ureteroscope was performed using a motion-tracking platform, inertial measurement units (IMUs), and an optical sensor. Position (x, y, z) and orientation (roll, pitch, yaw) of the ureteroscope handle, lever deflection, and translation of the scope insertion point were collected. Video capture of the operator’s hands was collected with a Raspberry Pi camera. All peripherals were controlled on a Raspberry Pi 4 and synchronized to its system clock.
Results: Our system demonstrated good accuracy in detecting translation of the ureteroscope in the x- and y-axes, and yaw, pitch and roll of the ureteroscope at discrete orientations of 0, ±30, ±60, and ±90 degrees. Unique to fURS, deflection of the lever was captured by the difference in IMU static accelerations with good accuracy. The optical sensor detected translation of the ureteroscope at the insertion point with good precision and an average error of 5.51%.
Conclusions: We successfully developed a motion-tracking and video-capture system capable of collecting motion-analysis parameters unique to fURS. Future studies will focus on establishing the construct validity of this tool.
期刊介绍:
Published by the Canadian Urological Association, the Canadian Urological Association Journal (CUAJ) released its first issue in March 2007, and was published four times that year under the guidance of founding editor (Editor Emeritus as of 2012), Dr. Laurence H. Klotz. In 2008, CUAJ became a bimonthly publication. As of 2013, articles have been published monthly, alternating between print and online-only versions (print issues are available in February, April, June, August, October, and December; online-only issues are produced in January, March, May, July, September, and November). In 2017, the journal launched an ahead-of-print publishing strategy, in which accepted manuscripts are published electronically on our website and cited on PubMed ahead of their official issue-based publication date. By significantly shortening the time to article availability, we offer our readers more flexibility in the way they engage with our content: as a continuous stream, or in a monthly “package,” or both. CUAJ covers a broad range of urological topics — oncology, pediatrics, transplantation, endourology, female urology, infertility, and more. We take pride in showcasing the work of some of Canada’s top investigators and providing our readers with the latest relevant evidence-based research, and on being the primary repository for major guidelines and other important practice recommendations. Our long-term vision is to become an essential destination for urology-based research, education, and advocacy for both physicians and patients, and to act as a springboard for discussions within the urologic community.