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Proceedings Paper

Compensation of electromagnetic tracking system using an optical tracker and its application to bronchoscopy navigation system
Author(s): Kensaku Mori; Kazuyoshi Ishitani; Daisuke Deguchi; Takayuki Kitasaka; Yasuhito Suenaga; Hirotsugu Takabatake; Masaki Mori; Hiroshi Natori
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Paper 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.

Paper Details

Date Published: 21 March 2007
PDF: 12 pages
Proc. SPIE 6509, Medical Imaging 2007: Visualization and Image-Guided Procedures, 65090M (21 March 2007); doi: 10.1117/12.710595
Show Author Affiliations
Kensaku Mori, Nagoya Univ. (Japan)
Kazuyoshi Ishitani, Nagoya Univ. (Japan)
Daisuke Deguchi, Nagoya Univ. (Japan)
Takayuki Kitasaka, Nagoya Univ. (Japan)
Yasuhito Suenaga, Nagoya Univ. (Japan)
Hirotsugu Takabatake, Sapporo-Minami-sanjo Hospital (Japan)
Masaki Mori, Sapporo-Kosei General Hospital (Japan)
Hiroshi Natori, Keiwakai Nishioka Hospital (Japan)


Published in SPIE Proceedings Vol. 6509:
Medical Imaging 2007: Visualization and Image-Guided Procedures
Kevin R. Cleary; Michael I. Miga, Editor(s)

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