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

Kensaku Mori, Daisuke Deguchi, Kazuyoshi Ishitani, Takayuki Kitasaka, Yasuhito Suenaga, Yosihnori Hasegawa, Kazuyoshi Imaizumi, Hirotsugu Takabatake

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings
PublisherSpringer Verlag
Pages644-651
Number of pages8
EditionPART 2
ISBN (Print)9783540757580
DOIs
Publication statusPublished - 2007
Externally publishedYes
Event10th International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2007 - Brisbane, Australia
Duration: 29-10-200702-11-2007

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 2
Volume4792 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference10th International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2007
CountryAustralia
CityBrisbane
Period29-10-0702-11-07

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

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