Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments

Authors:
Kensaku Mori;Daisuke Deguchi;Kazuyoshi Ishitani;Takayuki Kitasaka;Yasuhito Suenaga;Yosihnori Hasegawa;Kazuyoshi Imaizumi;Hirotsugu Takabatake
Affiliations:
Graduate School of Information Science, Nagoya University, Nagoya, Aichi, Japan and Innovative Research Center for Preventive Medical Engineering, Nagoya University;Innovative Research Center for Preventive Medical Engineering, Nagoya University;Graduate School of Information Science, Nagoya University, Nagoya, Aichi, Japan;Graduate School of Information Science, Nagoya University, Nagoya, Aichi, Japan and Innovative Research Center for Preventive Medical Engineering, Nagoya University;Graduate School of Information Science, Nagoya University, Nagoya, Aichi, Japan 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'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Year:
2007

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Abstract

This paper presents a method for bronchoscope tracking without any fiducial markers using an ultra-tiny electromagnetic tracker (UEMT) for a bronchoscopy guidance system. The proposed method calculates the transformation matrix, which shows the relationship between the coordinates systems of the pre-operative CT images and the UEMT, by registering bronchial branches segmented from CT images and points measured by the UEMT attached at the tip of a bronchoscope. We dynamically compute the transformation matrix for every pre-defined number of measurements. We applied the proposed method to a bronchial phantom in several experimental environments. The experimental results showed the proposed method can track a bronchoscope camera with about 3.3mm of target registration error (TRE) for wood table environment and 4.0mm of TRE for examination table environment.