Automated surgical light positioning system using thermal-imaging and optical techniques

[摘要] ENGLISH ABSTRACT: Surgical light systems (SLS) are used to ensure optimal light conditions during surgical procedures. At present, these light sources are adjusted manually by the surgeon or other operating room (OR) personnel. Manual adjustment of the SLS is problematic due to the necessity for a sterile environment. Surgeons must either adjust the SLS themselves, or communicate their requirements so that the OR assistants can position the lights to ensure optimal surgical conditions. Other complications with current SLS include mechanical problems, collisions, inaccessibility and illumination issues. It would be beneficial if the SLS could be automated to illuminate the wound without input from the surgeon. Therefore, the aim of this project was to test whether it is possible to identify a heat source (simulating a surgical wound), track this heat source in real time, and adjust a laser indicator (simulating a surgical light beam) mounted on an articulating assembly (analogous to an SLS).A system was developed that used an algorithm that identified and tracked a heat source and communicated to an automated articulating assembly to keep the laser indicator pointed at the heat source. The heat source was identified using thermal cameras and tracked using stereo optical cameras in three-dimensional space. The tracking accuracy and the manipulation accuracy were tested, and the results demonstrated that the combination of optical and thermal cameras with stereo image-processing techniques could be used to identify and track a heat source. This could further be used to guide an articulated assembly to keep a light beam pointed at the heat source with good accuracy. Therefore, this technology will contribute towards achieving full automation of SLS in the future. Following from the conclusions of this thesis, aspects have been identified and recommended for future research to achieve full automation and solve all SLS complications in the future.

[发布机构] Stellenbosch University