Improvement of Accuracy of Marker-Free Bronchoscope Tracking Using Electromagnetic Tracker Based on Bronchial Branch Information

Authors:
Kensaku Mori;Daisuke Deguchi;Takayuki Kitasaka;Yasuhito Suenaga;Yosihnori Hasegawa;Kazuyoshi Imaizumi;Hirotsugu Takabatake
Affiliations:
Graduate School of Information Science, Nagoya University, Nagoya, Japan 464-8603 and Innovative Research Center for Preventive Medical Engineering, Nagoya University,;Innovative Research Center for Preventive Medical Engineering, Nagoya University,;Innovative Research Center for Preventive Medical Engineering, Nagoya University, and Faculty of Management and Information Science, Aichi Institute of Technology,;Graduate School of Information Science, Nagoya University, Nagoya, Japan 464-8603 and Innovative Research Center for Preventive Medical Engineering, Nagoya University,;Graduate School of Medicine, Nagoya University, and Innovative Research Center for Preventive Medical Engineering, Nagoya University,;Graduate School of Medicine, Nagoya University,;Sapporo Minami-Sanjyo Hospital,
Venue:
MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Year:
2008

Citing 1
Cited 1

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Abstract

This paper presents a study of tracking accuracy improvement of marker-free bronchoscope tracking using an electromagnetic tracking system. Bronchoscope tracking is an important function in a bronchoscope navigation system that assists a physician during bronchoscopic examination. Several research groups have presented a method for bronchoscope tracking using an ultra-tiny electromagnetic tracker (UEMT) that can be inserted into the working channel of a bronchoscope. In such a system, it is necessary to find the matrix Tshowing the relation between the coordinate systems of the CT image and the UEMT. This paper tries to improve the accuracy of this matrix by using not only the position information of the UEMT but also the orientation information. The proposed algorithm uses the running direction information of bronchial branches and the orientation information of the UEMT in the computation process of T. In the experiments using a bronchial phantom, the tracking accuracy was improved from 2.2 mm to 1.8 mm.