发表机构
Seoul National University Hospital; Rosota Inc.; Seoul National University College of Medicine; Seoul National University; Eulji University College of Medicine（首尔大学医院; Rosota公司; 首尔大学医学院; 首尔大学; 乙支大学医学院）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
针对手持腹腔镜器械运动丢失问题，提出无磁力计融合IMU、ToF测距和视觉的夹持式记录器，在RCM约束下实现毫米级尖端轨迹跟踪。
AI 中文摘要
大多数微创手术仍使用手持腹腔镜器械进行，但仅保留了内窥镜视频；表达手术技能、可用于技能评估和机器人学习的器械运动信息却丢失了。仅凭视频的位姿误差仍在毫米到厘米级，而器械安装的惯性测量单元（IMU）无法依赖其磁力计，因为在我们测量中，磁场随器械姿态和会话间变化。我们提出一种手术器械状态记录器，它夹持在传统器械上，无需修改进入患者体内的部分，并在套管针的远程运动中心（RCM）约束下，将六轴IMU和飞行时间（ToF）测距仪与无标记相机在误差状态卡尔曼滤波器中融合。航向来自U-Net分割的器械杆轮廓，替代磁力计：旋转角误差为0.200°，而仅用加速度计和磁力计为3.58°。相对于Franka Research 3机械臂，且未进行对齐，300次平移试验的位移误差为1.21mm RMS，180次旋转试验的相对旋转误差为0.34° RMS。在连续轨迹上，实时跟踪和显示，经过事后调整三个滤波器参数，绝对尖端误差为1.22mm（编程）和3.04mm（遥操作），且完整融合优于每个传感器子集。由于估计器不使用磁测量，其精度不依赖于无干扰磁场。因此，相同的夹持设备可在常规手持腹腔镜检查中记录公制尖端轨迹，同时显示器械进入患者体内后隐藏的插入深度和姿态。
英文摘要
Most minimally invasive procedures are still performed with hand-held laparoscopic instruments, yet only the endoscopic video is retained; the instrument motion that expresses surgical skill, and that could support skill assessment and robot learning, is lost. Pose from video alone remains millimeters to centimeters off, and an instrument-mounted inertial measurement unit (IMU) cannot rely on its magnetometer, whose field changed with tool pose and between sessions in our measurements. We present a surgical instrument-state logger that clips onto a conventional instrument without modifying the part that enters the patient and fuses a six-axis IMU and a time-of-flight (ToF) rangefinder with a markerless camera in an error-state Kalman filter under the remote center of motion (RCM) of the trocar. Heading comes from the shaft silhouette, segmented by a U-Net, in place of the magnetometer: the rotation-angle error is 0.200°, against 3.58° from the accelerometer and magnetometer alone. Against a Franka Research 3 manipulator, and without alignment to it, the displacement error over 300 translation trials was 1.21mm RMS and the relative-rotation error over 180 rotation trials 0.34° RMS. On continuous trajectories, tracked and displayed in real time, the absolute tip error was 1.22mm (programmed) and 3.04mm (teleoperated) after post-hoc tuning of three filter parameters, and the full fusion beat every sensor subset. Because the estimator uses no magnetic measurement, its accuracy does not rely on an undisturbed field. The same clip-on device could thus record metric tip trajectories during routine hand-held laparoscopy, while displaying the insertion depth and attitude that are hidden once the instrument is inside the patient.
CommentsSubmitted to IEEE ICRA 2027
