טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentNoam Hassidov
SubjectAlign Laparoscopic Visualization Using Multi Cameras Array
DepartmentDepartment of Architecture and Town Planning
Supervisors Professor Bitterman Noemi
Full Professor Shoham Moshe
Full Thesis text - in Hebrew Full thesis text - Hebrew Version


Abstract

Introduction: Laparoscopic surgery is a MIS (Minimal Invasive Surgery) procedure that enables physicians to operate on organs in the abdominal cavity via small ports rather than long cuts in the abdominal wall. Laparoscopy enables minimal tissue trauma and fast recovery time, but unlike open surgery, the physician has a limited filed of view on the operated organs. The laparoscope is maneuvered until the operated organs are optimally viewed on the workstation's display. These steering movements cause disorientation, poor hand eye coordination and long training period.


AIMS: The aim of this study was to check the advantages of a novel aligned laparoscopic visualization system using a Multi Cameras Array (MCA) in laparoscopic procedure performances.


Novelty: The MCA system provides a real-time wide image of the operation scene co-aligned with internal operated organs, the surgical tools & the surgeon hands. This is achieved by a set of cameras that capture different view angels combined into a single wide view. Compounding each limited image into a stitched image that covers a wide view on the operated organs enables the surgeon to perform a task without the need to rotate and tilt the laparoscope chasing the optimal viewing angle.


Methods: Twelve novice participants and fourteen surgeons performed a one-handed task with their dominant hand using a training box. Each participant carried out a task that mimics surgery skills. The task comprises of grasping a small capsule in the operating field and places it in a given location. In the control experiment setting the task was repeated while changing the endoscope angle (varying between 0° - 120°) relative to the participant's optical axis midline (OAM). In the MCA experiment setting, each participant carried out the standard task twice, using the MCA system.


Results: both novice participant and experienced surgeons task performances in the aMCA systems yielded significantly shorter execution times and lower error rate compared to the standard endoscopy system. Experienced surgeon's task performances yielded an error rate of 6% errors per run in the aMCA systems compared to 48% (90° OAM) and 47% (120° OAM) errors per run respectively (P<0.01). 


Conclusions: Experienced surgeon's using the MCA yielded significantly shorter execution time and lower errors rates compared to one using a standard endoscopy system at angle of 90° and 120° OAM.