Hybrid bronchoscope tracking using a magnetic tracking sensor and image registration

Authors:
Kensaku Mori;Daisuke Deguchi;Kenta Akiyama;Takayuki Kitasaka;Calvin R. Maurer, Jr.;Yasuhito Suenaga;Hirotsugu Takabatake;Masaki Mori;Hiroshi Natori
Affiliations:
Graduate School of Information Science, Nagoya University, Nagoya, Japan;Graduate School of Information Science, Nagoya University, Nagoya, Japan;Graduate School of Information Science, Nagoya University, Nagoya, Japan;Graduate School of Information Science, Nagoya University, Nagoya, Japan;Department of Neurosurgery, Stanford University, Stanford;Graduate School of Information Science, Nagoya University, Nagoya, Japan;Sapporo Minami-Sanjyo Hospital, Sapporo, Japan;Sapporo Kosei Hospital, Sapporo, Japan;School of Medicine, Sapporo Medical University, Sapporo, Japan
Venue:
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
Year:
2005

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Abstract

In this paper, we propose a hybrid method for tracking a bronchoscope that uses a combination of magnetic sensor tracking and image registration. The position of a magnetic sensor placed in the working channel of the bronchoscope is provided by a magnetic tracking system. Because of respiratory motion, the magnetic sensor provides only the approximate position and orientation of the bronchoscope in the coordinate system of a CT image acquired before the examination. The sensor position and orientation is used as the starting point for an intensity-based registration between real bronchoscopic video images and virtual bronchoscopic images generated from the CT image. The output transformation of the image registration process is the position and orientation of the bronchoscope in the CT image. We tested the proposed method using a bronchial phantom model. Virtual breathing motion was generated to simulate respiratory motion. The proposed hybrid method successfully tracked the bronchoscope at a rate of approximately 1 Hz.