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The use of time of flight camera for soft issue tracking during minimally invasive hip arthroplasty

Time of flight (TOF) cameras can guide surgical robots or provide soft tissue information for augmented reality in the medical field. In this study a method to automatically track the soft tissue envelope of a minimally invasive hip approach in a cadaver study is described. An algorithm for the TOF camera was developed and 30 measurements on 8 operational siti (direct anterior approach) were carried out. The results were compared to a manual measurement of the soft tissue envelope. The TOF camera showed an overall recognition rate of the soft tissue envelope of 75 %. Comparing the results from the algorithm to the manual measurements a significant difference was found (p>0.005).Recognizing the soft tissue envelope remains challenging. By further optimizing the algorithm and improving the measurement technique a a robotic navigation device for minimally invasive hip surgery could be developed.