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

doi:10.1007/978-3-540-75759-7_78

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 proceeding › Conference contribution

12 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 language	English
Title of host publication	Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings
Publisher	Springer Verlag
Pages	644-651
Number of pages	8
Edition	PART 2
ISBN (Print)	9783540757580
DOIs	https://doi.org/10.1007/978-3-540-75759-7_78
Publication status	Published - 2007
Externally published	Yes
Event	10th International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2007 - Brisbane, Australia Duration: 29-10-2007 → 02-11-2007

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Number	PART 2
Volume	4792 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	10th International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2007
Country/Territory	Australia
City	Brisbane
Period	29-10-07 → 02-11-07

All Science Journal Classification (ASJC) codes

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-540-75759-7_78

Cite this

Mori, K., Deguchi, D., Ishitani, K., Kitasaka, T., Suenaga, Y., Hasegawa, Y., Imaizumi, K., & Takabatake, H. (2007). Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments. In Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings (PART 2 ed., pp. 644-651). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4792 LNCS, No. PART 2). Springer Verlag. https://doi.org/10.1007/978-3-540-75759-7_78

Mori, Kensaku ; Deguchi, Daisuke ; Ishitani, Kazuyoshi et al. / Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments. Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings. PART 2. ed. Springer Verlag, 2007. pp. 644-651 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2).

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

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.",

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

year = "2007",

doi = "10.1007/978-3-540-75759-7_78",

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booktitle = "Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings",

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Mori, K, Deguchi, D, Ishitani, K, Kitasaka, T, Suenaga, Y, Hasegawa, Y, Imaizumi, K & Takabatake, H 2007, Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments. in Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings. PART 2 edn, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), no. PART 2, vol. 4792 LNCS, Springer Verlag, pp. 644-651, 10th International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2007, Brisbane, Australia, 29-10-07. https://doi.org/10.1007/978-3-540-75759-7_78

Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments. / Mori, Kensaku; Deguchi, Daisuke; Ishitani, Kazuyoshi et al.
Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings. PART 2. ed. Springer Verlag, 2007. p. 644-651 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4792 LNCS, No. PART 2).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

TY - GEN

T1 - Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments

AU - Mori, Kensaku

AU - Deguchi, Daisuke

AU - Ishitani, Kazuyoshi

AU - Kitasaka, Takayuki

AU - Suenaga, Yasuhito

AU - Hasegawa, Yosihnori

AU - Imaizumi, Kazuyoshi

AU - Takabatake, Hirotsugu

PY - 2007

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N2 - 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.

AB - 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.

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PB - Springer Verlag

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Y2 - 29 October 2007 through 2 November 2007

ER -

Mori K, Deguchi D, Ishitani K, Kitasaka T, Suenaga Y, Hasegawa Y et al. Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments. In Medical Image Computing and Computer-Assisted Intervention - MICCAI 2007 - 10th International Conference, Proceedings. PART 2 ed. Springer Verlag. 2007. p. 644-651. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); PART 2). doi: 10.1007/978-3-540-75759-7_78

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

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