Authors Jessica Trac Department of Otolaryngology–Head & Neck Surgery, University of Toronto, Toronto, ON Jonguk Lee University of Toronto Kai-Ho Fok University of Toronto Brian Carrillo WellSpring Research, Toronto Monica Farcas University of Toronto DOI: https://doi.org/10.5489/cuaj.8530 Keywords: flexible ureteroscopy, ureteroscopy, motion tracking, endoscopy, education, simulation Abstract

INTRODUCTION: Hand/instrument motion-tracking in surgical simulation provides valuable data to improve psychomotor skills and can serve as a formative evaluation tool. Motion analysis has been well-studied in laparoscopic surgery; however, there are essentially no studies looking at motion-tracking for flexible ureteroscopy (fURS), a common surgical procedure requiring hand dexterity and 3D spatial awareness. We aimed to design a synchronized motion-tracking and video capture system for fURS capable of collecting objective metrics for use in surgical skills training.

METHODS: Motion tracking of the ureteroscope was performed using a motion-tracking platform, inertial measurement units (IMUs), and an optical sensor. Position (x, y, z) and orientation (roll, pitch, yaw) of the ureteroscope handle, lever deflection, and translation of the scope insertion point were collected. Video capture of the operator’s hands was collected with a Raspberry Pi camera. All peripherals were controlled on a Raspberry Pi 4 and synchronized to its system clock.

RESULTS: Our system demonstrated good accuracy in detecting translation of the ureteroscope in the x- and y-axes, and yaw, pitch and roll of the ureteroscope at discrete orientations of 0, ±30, ±60, and ±90 degrees. Unique to fURS, deflection of the lever was captured by the difference in IMU static accelerations with good accuracy. The optical sensor detected translation of the ureteroscope at the insertion point with good precision and an average error of 5.51%.

CONCLUSIONS: We successfully developed a motion-tracking and video-capture system capable of collecting motion-analysis parameters unique to fURS. Future studies will focus on establishing the construct validity of this tool.

Downloads

Download data is not yet available.

How to Cite

Trac, J., Lee, J. ., Fok, K.-H., Carrillo, B. ., & Farcas, M. (2023). Development of a synchronous motion-tracking and video capture tool for flexible ureteroscopy. Canadian Urological Association Journal, 18(4), 103–9. https://doi.org/10.5489/cuaj.8530

Issue Section

Original Research

License

You, the Author(s), assign your copyright in and to the Article to the Canadian Urological Association. This means that you may not, without the prior written permission of the CUA:

Post the Article on any Web site Translate or authorize a translation of the Article Copy or otherwise reproduce the Article, in any format, beyond what is permitted under Canadian copyright law, or authorize others to do so Copy or otherwise reproduce portions of the Article, including tables and figures, beyond what is permitted under Canadian copyright law, or authorize others to do so.

The CUA encourages use for non-commercial educational purposes and will not unreasonably deny any such permission request.

You retain your moral rights in and to the Article. This means that the CUA may not assert its copyright in such a way that would negatively reflect on your reputation or your right to be associated with the Article.

The CUA also requires you to warrant the following:

That you are the Author(s) and sole owner(s), that the Article is original and unpublished and that you have not previously assigned copyright or granted a licence to any other third party; That all individuals who have made a substantive contribution to the article are acknowledged; That the Article does not infringe any proprietary right of any third party and that you have received the permissions necessary to include the work of others in the Article; and That the Article does not libel or violate the privacy rights of any third party.