Towards hybrid bronchoscope tracking under respiratory motion - Evaluation on a dynamic motion phantom

Xióngbiāo Luó, Marco Feuerstein, Takamasa Sugiura, Takayuki Kitasaka, Kazuyoshi Imaizumi, Yoshinori Hasegawa, Kensaku Mori

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

21 Citations (Scopus)


This paper presents a hybrid camera tracking method that uses electromagnetic (EM) tracking and intensitybased image registration and its evaluation on a dynamic motion phantom. As respiratory motion can significantly affect rigid registration of the EM tracking and CT coordinate systems, a standard tracking approach that initializes intensity-based image registration with absolute pose data acquired by EM tracking will fail when the initial camera pose is too far from the actual pose. We here propose two new schemes to address this problem. Both of these schemes intelligently combine absolute pose data from EM tracking with relative motion data combined from EM tracking and intensity-based image registration. These schemes significantly improve the overall camera tracking performance. We constructed a dynamic phantom simulating the respiratory motion of the airways to evaluate these schemes. Our experimental results demonstrate that these schemes can track a bronchoscope more accurately and robustly than our previously proposed method even when maximum simulated respiratory motion reaches 24 mm.

Original languageEnglish
Title of host publicationMedical Imaging 2010
Subtitle of host publicationVisualization, Image-Guided Procedures, and Modeling
EditorsKenneth H. Wong, Michael I. Miga
ISBN (Electronic)9780819480262
Publication statusPublished - 2010
Externally publishedYes
EventMedical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling - San Diego, United States
Duration: 14-02-201016-02-2010

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
ISSN (Print)1605-7422


ConferenceMedical Imaging 2010: Visualization, Image-Guided Procedures, and Modeling
Country/TerritoryUnited States
CitySan Diego

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Atomic and Molecular Physics, and Optics
  • Biomaterials
  • Radiology Nuclear Medicine and imaging


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