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Proceedings Paper

Minimization of tool tracking error using fulcrum correction in minimally invasive interventions: application to prostate biopsy procedure
Author(s): Derek Cool; Shi Sherebrin; Jonathan Izawa; Terrence Peters; Aaron Fenster
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Paper Abstract

Real-time 3D optical tracking of free-hand imaging devices or surgical tools has been studied and employed for object localization in many minimally invasive interventions. However, the surgical workspace for many interventional procedures is often sub-dermal with tool access through ports from surgical incisions or anatomical orifices. To maintain the optical line-of-sight criterion, external extensions of inserted imaging devices and rigid surgical tools must be tracked to localize the internal tool tips. Unfortunately, tracking by this form of correspondence is very susceptible to noise as orientation errors on the external tracked end compound into both rotational and translational errors on the internal, workspace position. These translational errors are proportional to the length of the probe and the sine of the angulation error, so small angulation errors can quickly compromise the accuracy of the tool tip localization. We propose a real-time tracking correction technique that uses the rotational fulcrum created by the device entry port to minimize the effect of translational and rotational noise errors for tool tip localization. Our technique could apply to many types of interventions, but we focus on the application to the prostate biopsy procedure for tracking a transrectal ultrasound (TRUS) probe commonly used for prostate biopsies. In vitro studies were performed using the Claron Technology MicronTracker 2 to track a TRUS probe in a fixed rotational device. Our experimental results showed an order of magnitude improvement in RMS localization of the internal TRUS probe tip using fulcrum correction over the raw tracking information.

Paper Details

Date Published: 13 March 2006
PDF: 8 pages
Proc. SPIE 6141, Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display, 614115 (13 March 2006); doi: 10.1117/12.652590
Show Author Affiliations
Derek Cool, Robarts Research Institute (Canada)
Univ. of Western Ontario (Canada)
Shi Sherebrin, Robarts Research Institute (Canada)
Jonathan Izawa, London Health Sciences Ctr. (Canada)
Terrence Peters, Robarts Research Institute (Canada)
Univ. of Western Ontario (Canada)
Aaron Fenster, Robarts Research Institute (Canada)
Univ. of Western Ontario (Canada)

Published in SPIE Proceedings Vol. 6141:
Medical Imaging 2006: Visualization, Image-Guided Procedures, and Display
Kevin R. Cleary; Robert L. Galloway, Jr., Editor(s)

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