Towards Finger Motion Tracking and Analyses for Cardiac Surgery

Mohammad Fattahi Sani, Sajeeva Abeywardena, Efi Psomopoulou, Raimondo Ascione, Sanja Dogramadzi*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publication15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019
EditorsJorge Henriques, Paulo de Carvalho, Nuno Neves
PublisherSpringer
Pages1515-1525
Number of pages11
ISBN (Print)9783030316341
DOIs
Publication statusPublished - 1 Jan 2020
Event15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019 - Coimbra, Portugal
Duration: 26 Sep 201928 Sep 2019

Publication series

NameIFMBE Proceedings
Volume76
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Conference

Conference15th Mediterranean Conference on Medical and Biological Engineering and Computing, MEDICON 2019
CountryPortugal
CityCoimbra
Period26/09/1928/09/19

Keywords

  • Cardiac surgery
  • Finger tracking
  • Robot Assisted Surgery

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