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Reproducibility of freehand calibrations for ultrasound-guided needle navigation
Author(s): Sydney Perrin; Zachary Baum; Mark Asselin; Grace Underwood; Saleh Choueib; Hillary Lia; Tamas Ungi; Andras Lasso; Gabor Fichtinger
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Paper Abstract

PURPOSE: Spatially tracked ultrasound-guided needle insertions may require electromagnetic sensors to be clipped on the needle and ultrasound probe if not already embedded in the tools. It is assumed that switching the electromagnetic sensor clip does not impact the accuracy of the computed calibration. We propose an experimental process to determine whether or not devices should be calibrated on a more frequent basis. METHODS: We performed 250 calibrations. Of these, 125 were performed on the needle and 125 on the ultrasound. Every five calibrations, the tracking clip was removed and reattached. Every 25 calibrations, the tracking clip was exchanged for an identical 3D-printed model. From the resulting transform matrices, coordinate transformations were computed. Data reproducibility was analyzed through looking at the difference between mean and grand mean, standard deviation and the Shapiro-Wilks normality constant. Data was graphically displayed to visualize differences in calibrations in different directions. RESULTS: For the needle calibrations, transformations parallel to the tracking clip and perpendicular to the needle demonstrated the greatest deviation. For the ultrasound calibrations, transformations perpendicular to the sound propagation demonstrated the greatest deviation. CONCLUSION: Needle and ultrasound calibrations are reproducible when changing the tracking clip. These devices do not need to be calibrated on a more frequent basis. Caution should be taken to minimize confounding variables such as bending the needle or ultrasound beam width at the time of calibration. KEY WORDS: Calibration, tracking, reproducibility, electromagnetic, spatial, ultrasound-guided needle navigation, transformation, standard deviation.

Paper Details

Date Published: 8 March 2019
PDF: 8 pages
Proc. SPIE 10951, Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling, 109512B (8 March 2019); doi: 10.1117/12.2512608
Show Author Affiliations
Sydney Perrin, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Zachary Baum, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Mark Asselin, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Grace Underwood, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Saleh Choueib, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Hillary Lia, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Tamas Ungi, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Andras Lasso, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)
Gabor Fichtinger, Lab. for Percutaneous Surgery, Queen's Univ. (Canada)


Published in SPIE Proceedings Vol. 10951:
Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling
Baowei Fei; Cristian A. Linte, Editor(s)

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