Tracking accuracy evaluation of electromagnetic sensor-based colonoscope tracking method

Masahiro Oda, Hiroaki Kondo, Takayuki Kitasaka, Kazuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Hidemi Goto, Nassir Navab, Kensaku Mori

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


This paper reports a detailed evaluation results of a colonoscope tracking method. A colonoscope tracking method utilizing electromagnetic sensors and a CT volume has been proposed. Tracking accuracy of this method was evaluated by using a colon phantom. In the previously proposed paper, tracking errors were measured only at six points on the colon phantom for the accuracy evaluation. The point number is not enough to evaluate relationships between the tracking errors and positions in the colon. In this paper, we evaluated the colonoscope tracking method based on more detailed measurement results of the tracking errors. We measured tracking errors at 52 points on the colon phantom and visualized magnitudes of the tracking errors. From our experiments, tracking errors in the ascending and descending colons were enough small to perform colonoscope navigations. However, tracking errors in the transverse and descending colons were large due to colon deformations.

Original languageEnglish
Title of host publicationComputer-Assisted and Robotic Endoscopy - 2nd International Workshop, CARE 2015, Held in Conjunction with MICCAI 2015, Revised Selected Papers
EditorsTobias Reichl, Austin Reiter, Xiongbiao Luo, Gian-Luca Mariottini, Xiongbiao Luo
PublisherSpringer Verlag
Number of pages8
ISBN (Print)9783319299648
Publication statusPublished - 2016
Externally publishedYes
Event2nd International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2015 - Munich, Germany
Duration: 05-10-201505-10-2015

Publication series

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


Conference2nd International Workshop on Computer-Assisted and Robotic Endoscopy, CARE 2015

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • General Computer Science


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