Magneto-Optical Tracking of Flexible Laparoscopic Ultrasound: Model-Based Online Detection and Correction of Magnetic Tracking Errors

Feuerstein, Marco; Reichl, Tobias; Vogel, Jakob; Traub, Joerg; Navab, Nassir

doi:10.1109/tmi.2008.2008954

Cited by 61 publications

(33 citation statements)

References 36 publications

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“…One of the earlier attempts to compensating dynamic errors intraoperatively involved focusing on the region of interest alone to apply the distortion model Nakamoto et al, 2008). A more recent approach to detect and reduce dynamic EM tracking errors intraoperatively makes use of a tracking redundancy and a model based approach instead of a pre-computed distortion function (Feuerstein et al, 2009). …”

Section: Challenges -Em Tracking Accuracymentioning

confidence: 99%

Navigated Ultrasound in Laparoscopic Surgery

Lang¹,

Mrvik²

2012

Advances in Laparoscopic Surgery

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Section: Challenges -Em Tracking Accuracymentioning

confidence: 99%

Navigated Ultrasound in Laparoscopic Surgery

Lang¹,

Mrvik²

2012

Advances in Laparoscopic Surgery

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“…Although Cheung et al 7 reported an AR system based on EM tracking, the investigators do not describe where the sensors were placed on the two imaging probes, what the EM tracking errors associated with these locations were, or whether or not these locations were clinically practical. Feuerstein et al 20 proposed a hybrid optical-EM method to track the flexible tip of the LUS probe. However, the study focused on tracking the LUS probe only and not the laparoscope, and the attachment of the sensor appears to be a laboratory solution (i.e., cannot be implemented clinically).…”

Section: Introductionmentioning

confidence: 99%

Laparoscopic stereoscopic augmented reality: toward a clinically viable electromagnetic tracking solution

et al. 2016

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Abstract. The purpose of this work was to develop a clinically viable laparoscopic augmented reality (AR) system employing stereoscopic (3-D) vision, laparoscopic ultrasound (LUS), and electromagnetic (EM) tracking to achieve image registration. We investigated clinically feasible solutions to mount the EM sensors on the 3-D laparoscope and the LUS probe. This led to a solution of integrating an externally attached EM sensor near the imaging tip of the LUS probe, only slightly increasing the overall diameter of the probe. Likewise, a solution for mounting an EM sensor on the handle of the 3-D laparoscope was proposed. The spatial image-to-video registration accuracy of the AR system was measured to be 2.59 AE 0.58 mm and 2.43 AE 0.48 mm for the leftand right-eye channels, respectively. The AR system contributed 58-ms latency to stereoscopic visualization. We further performed an animal experiment to demonstrate the use of the system as a visualization approach for laparoscopic procedures. In conclusion, we have developed an integrated, compact, and EM tracking-based stereoscopic AR visualization system, which has the potential for clinical use. The system has been demonstrated to achieve clinically acceptable accuracy and latency. This work is a critical step toward clinical translation of AR visualization for laparoscopic procedures.

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“…To address airway deformation, Gergel et al applied particle filtering to all camera positions and orientations acquired by EMT and projected them to a previously segmented centerline of the bronchial tree [4], so they assume a bronchoscope camera that is always moving along the centerline of the airways; however this is a hard constraint since it is easily violated by a bronchoscopist in the operating room. Otherwise, the measurement inaccuracies of EMT are difficult to correct, unless combined with optical tracking [5,6]. Furthermore, a combination of image-and sensor-based methods for bronchoscope tracking was originally proposed by Mori et al [7].…”

Section: Introductionmentioning

confidence: 99%

Modified Hybrid Bronchoscope Tracking Based on Sequential Monte Carlo Sampler: Dynamic Phantom Validation

Luo

Reichl

Feuerstein

et al. 2011

Computer Vision – ACCV 2010

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Abstract. This paper presents a new hybrid bronchoscope tracking method that uses an electromagnetic position sensor, a sequential Monte Carlo sampler, and its evaluation on a dynamic motion phantom. Since airway deformation resulting from patient movement, respiratory motion, and coughing can significantly affect the rigid registration between electromagnetic tracking and computed tomography (CT) coordinate systems, a standard hybrid tracking approach that initializes intensitybased image registration with absolute pose data acquired by electromagnetic tracking fails when the initial camera pose is too far from the actual pose. We propose a new solution that combines electromagnetic tracking and a sequential Monte Carlo sampler to address this problem. In our solution, sequential Monte Carlo sampling is introduced to recursively approximate the posterior probability distributions of the bronchoscope camera motion parameters in accordance with the observation model based on electromagnetic tracking. We constructed a dynamic phantom that simulates airway deformation to evaluate our proposed solution. Experimental results demonstrate that the challenging problem of airway deformation can be robustly modeled and effectively addressed with our proposed approach compared to a previous hybrid method, even when the maximum simulated airway deformation reaches 23 mm.

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Magneto-Optical Tracking of Flexible Laparoscopic Ultrasound: Model-Based Online Detection and Correction of Magnetic Tracking Errors

Cited by 61 publications

References 36 publications

Navigated Ultrasound in Laparoscopic Surgery

Navigated Ultrasound in Laparoscopic Surgery

Laparoscopic stereoscopic augmented reality: toward a clinically viable electromagnetic tracking solution

Modified Hybrid Bronchoscope Tracking Based on Sequential Monte Carlo Sampler: Dynamic Phantom Validation

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