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Proceedings Paper

Uncertainty propagation and analysis of image-guided surgery
Author(s): Amber L. Simpson; Burton Ma; Randy E. Ellis; A. James Stewart; Michael I. Miga
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Paper Abstract

A successful image-guided surgical intervention requires accurate measurement of coordinate systems. Uncertainty is introduced every time a pose is measured by the optical tracking system. When we transform a measured pose into a different coordinate system, the covariance (which encodes the uncertainty of the pose) must be propagated to this new coordinate system. In this paper, we describe a method for propagating covariances estimated from registration, tracking, and instrument calibration into the tip of the surgical tool. This is clinically important, since it is at the tool tip that the clinician cares about uncertainty. We demonstrate that the propagation method, which is computed in real time as the tool moves through space, reliably computes the propagated covariance by comparing our estimate to true covariances from Monte Carlo simulations.

Paper Details

Date Published: 1 March 2011
PDF: 7 pages
Proc. SPIE 7964, Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling, 79640H (1 March 2011); doi: 10.1117/12.878774
Show Author Affiliations
Amber L. Simpson, Vanderbilt Univ. (United States)
Burton Ma, York Univ. (Canada)
Randy E. Ellis, Queen's Univ. (Canada)
A. James Stewart, Queen's Univ. (Canada)
Michael I. Miga, Vanderbilt Univ. (United States)

Published in SPIE Proceedings Vol. 7964:
Medical Imaging 2011: Visualization, Image-Guided Procedures, and Modeling
Kenneth H. Wong; David R. Holmes, Editor(s)

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