University of Twente Student Theses


Head Motion Controlled Endoscopic Camera Manipulation using Inertial Motion Sensor and Mixed Reality Headset

Mak, Y.X. (2018) Head Motion Controlled Endoscopic Camera Manipulation using Inertial Motion Sensor and Mixed Reality Headset.

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Abstract:A minimally invasive surgery (MIS) procedure normally requires an assistant to hold and control the endoscope camera, such that the assistant will move the camera while the surgeon performs the surgical operation. A head motion controlled endoscope will allow the surgeon to control the camera directly. During the master’s assignment, a head motion controlled endoscopic camera system has been developed and evaluated. First, a system is built using an inertial measurement unit (IMU) attached to the surgeon’s head as input and a standard display monitor as output, followed by using aMicrosoft HololensMixed Reality headset as additional visual output. One challenge in realizing the system is to compensate for the rotation of the endoscope tip in order to have the visual output stable orientation-wise. A pointing task experiment is conducted with help from clinicians and trained non-clinician participants to compare the human performance while using the head-controlled system versus manual usage of the flexible endoscope. The acceptability of the developed endoscope system is evaluated through a questionnaire. Results from the pointing task experiments show that the developed head-controlled endoscope has significantly faster reaching time performance in the high index of difficulty (ID) task with clinician participants (p Æ 0.0435), and in both ID tasks with non-clinician participants (p Æ 0.0290 for IDÆ 2 and p Æ 0.0351 for IDÆ 3), against the manual usage of the flexible endoscope. Moreover, the questionnaire responses indicate that the head-scope system is acceptable among clinician and non-clinician participants. More importantly, the head-scope system offer several advantages with respect to the current practice, such as direct camera control by the surgeon, better ergonomics in the operating room (OR) due to fewer personnels, and reduced post-operative pain induced by the pressure from the rigid endoscope to the rib cage.
Item Type:Essay (Master)
Unknown organization, Netherlands
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:52 mechanical engineering
Programme:Electrical Engineering MSc (60353)
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