Methods of position tracking based on magnetic field monitoring have been widely studied. The application of electromagnetic tracking (EMT) in endoscopic procedures not only has high requirements for position accuracy but also has a great demand for orientation accuracy. Accurate orientation information can provide more clues for shape fitting of the endoscope, especially when coils are placed at the front end of the endoscope for front end shape reconstruction. However, few methods have been proposed to calibrate position and orientation errors at the same time, while most methods are focused on position error correction. This paper presents a new method showing that by separating the tracking space into grids and calibrating the grid-sensing coil position and orientation parameters (GSCPOP), the position and orientation accuracy can be improved simultaneously by means of iterative computation. Compared to the uncalibrated method, position accuracy showed a 285% improvement, and orientation accuracy showed a 129% improvement.
Determining the shape and position of endoscopes has considerable benefits in endoscopic diagnosis and treatment. However, electromagnetic field distortion caused by metal materials, limited field strength and multiple sensors complicate the endoscope localization problem. In this paper, a locally weighted method for the electromagnetic localization of endoscopes that combines the models of the location problem and the errors is proposed. A hardware system, test platform and fixtures are constructed to collect data and evaluate the method. To obtain the global minimum of the objective function, an approach that combines a genetic algorithm with the Levenberg-Marquardt algorithm is developed. Compared to the localization method without weighting, the results show a 5.3:1 improvement in the localization of a naked coil and a 2.4:1 improvement in the localization of a coil inside a piece of endoscope insertion tube. In a transmitter-tracking configuration that limits the field strength and at a much farther distance (closer than 400 mm vs 400--700 mm), this method performs better than previously reported commercial systems in a similar environment. Furthermore, this method can greatly reduce the influence of metal materials used in endoscopes near the transmitter coil. This method can satisfy the demand for endoscope localization.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.