Compensation of electromagnetic tracking system using an optical tracker and its application to brochoscopy navigation system

Kensaku Mori; Kazuyoshi Ishitani; Daisuke Deguchi; Takayuki Kitasaka; Yasuhito Suenaga; Hirotsugu Takabatake; Masaki Mori; Hiroshi Natori

doi:10.1117/12.710595

21 March 2007 Compensation of electromagnetic tracking system using an optical tracker and its application to bronchoscopy navigation system

Kensaku Mori, Kazuyoshi Ishitani, Daisuke Deguchi, Takayuki Kitasaka, Yasuhito Suenaga, Hirotsugu Takabatake, Masaki Mori, Hiroshi Natori

Author Affiliations +

Proceedings Volume 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures; 65090M (2007) https://doi.org/10.1117/12.710595
Event: Medical Imaging, 2007, San Diego, CA, United States

Abstract

This paper investigates the utilization of the ultra-tiny electromagnetic tracker (UEMT) in a bronchoscope navigation system. In a bronchoscope navigation system, it is important to track the tip of a bronchoscope or catheter in real time. An ultra-tiny electromagnetic tracker (UEMT), which can be inserted into the working channel of a bronchoscope, allows us to track the tip of a bronchoscope or a catheter in real time. However, the accuracy of such UEMTs can be easily a.ected by ferromagnetic materials existing around the systems. This research tries to utilize a method for obtaining a function that compensates the outputs of a UEMT in a bronchoscope navigation system using a method proposed by Sato et al. This method uses a special jig combining a UEMT and an optical tracker (OT). Prior to bronchoscope navigation, we sweep this jig around an examination table and record outputs of both the UEMT and the OT. By using the outputs of the OT as reference data, we calculate a higher-order polynomial that compensates the UEMT outputs. We applied this method to the bronchoscope navigation system and performed bronchoscope navigation inside a bronchial phantom on the examination table. The experimental results showed that this method can reduce the position sensing error from 53.2 mm to 3.5 mm on a conventional examination table. Also, by using compensated outputs, it was possible to produce virtual bronchoscopic images synchronized with real bronchoscopic images.

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Kensaku Mori, Kazuyoshi Ishitani, Daisuke Deguchi, Takayuki Kitasaka, Yasuhito Suenaga, Hirotsugu Takabatake, Masaki Mori, and Hiroshi Natori "Compensation of electromagnetic tracking system using an optical tracker and its application to bronchoscopy navigation system", Proc. SPIE 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures, 65090M (21 March 2007); https://doi.org/10.1117/12.710595

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