Hemisphere Tabulation Method: An Ingenious Approach for Pose Evaluation of Instruments Using the Electromagnetic-Based Stereo Imaging Method

Drilling of a bone surface often occurs in clinical orthopaedic surgery. The position and orientation of the instrument are the most important factors in this process. Theoretically, some mechanical components may assist in orienting an instrument to certain bone shapes, such as the knee joint and caput femoris. However, the mechanical assisting component does not seem to work in some confined spaces where the bone shape is a free-form surface. In this paper, we propose an ingenious hemisphere tabulation method (HTM) for assessing the pose accuracy of an instrument. The acquisition and assessment of HTM is conducted based on an electromagnetic-based stereo imaging method using a custom-made optical measurement unit, and the operation steps of HTM are described in detail. Experimental results based on 50 tests show that the HTM can identify ideal poses and the evaluated pose of an instrument location on a hemisphere model. The mean error of pose localisation is 7.24 deg, with a range of 1.35 to 15.84 and a standard of 3.66 deg, which is more accurate than our previous method.

Optical Fiber Coupling System for Steerable Endoscopic Instruments

In this paper, we present an optical coupling system that couples light from an Endostat fiber in a commercial laser surgical system into a smaller multimode fiber, in order to enable endoscopic probe steering in a tightly confined space. Unlike the Endostat fibers, which have a minimum bending radius of 12 mm due to the large diameter, our work allows the laser to be delivered by smaller fibers that can be readily bent at a 6-mm bending radius by a distal steerable mechanism. Such a readily achievable sharp bending facilitates the surgical laser to access hard-to-reach anatomies. We experimentally achieved an optical power coupling efficiency of ≈ 50%. Tissue ablation experiments were performed to prove the feasibility and potential of our light coupling system in clinical laser surgeries, as well as other optical fiber-based endoscopic medical devices.Clinical Relevance- Optical fibers are commonly used in laser-based surgical systems. The optical coupling system in this paper enables the laser to be delivered by small fibers, helps realize the fiber bending and steering, and hence allows the laser treatments of previous inaccessible anatomies.