Marker-free registration for electromagnetic navigation bronchoscopy under respiratory motion

Authors:
Marco Feuerstein;Takamasa Sugiura;Daisuke Deguchi;Tobias Reichl;Takayuki Kitasaka;Kensaku Mori
Affiliations:
Computer Aided Medical Procedures, Technische Universität München and Graduate School of Information Science, Nagoya University;Graduate School of Information Science, Nagoya University;Graduate School of Information Science, Nagoya University;Computer Aided Medical Procedures, Technische Universität München and Graduate School of Information Science, Nagoya University;Faculty of Information Science, Aichi Institute of Technology;Graduate School of Information Science, Nagoya University and Information and Communications Headquarters, Nagoya University
Venue:
MIAR'10 Proceedings of the 5th international conference on Medical imaging and augmented reality
Year:
2010

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Abstract

Electromagnetic navigation bronchoscopy requires the accurate registration of a preinterventional computed tomography (CT) image to the coordinate system of the electromagnetic tracking system. Current state-of-the-art registration methods are manual or do not explicitly take patient's respiratory motion and exact airway shape into account, leading to relatively low accuracy. This paper presents an automated registration method addressing these issues. Electromagnetic tracking data recorded during bronchoscopic examination is matched to the airways by an optimizer utilizing the Euclidean distance map to the centerline of the airways for automated registration. Using a cutaneous sensor on the chest of the patient allows us to approximate respiratory motion by a linear deformation model and adopt the registration result in real time to the current respiratory phase. A thorough in silico evaluation on real patient data including CT images taken in 10 respiratory phases shows the significant registration error decrease of our method compared to the current state of the art, reducing the error from 3.5 mm to 2.8 mm.