Quantification of AC electromagnetic tracking system accuracy in a CT scanner environment

Shen, Eric; Shechter, Guy; Kruecker, Jochen; Stanton, Douglas

doi:10.1117/12.710836

Cited by 8 publications

(6 citation statements)

References 2 publications

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“…Laboratory investigations have demonstrated (12, 13) that the newer system has significantly improved accuracy both in an ideal metal-free environment and under more challenging conditions close to bulky medical imaging equipment, as was true in this study.…”

Section: Discussionmentioning

confidence: 53%

Clinical Utility of Real-time Fusion Guidance for Biopsy and Ablation

Krücker¹,

Xu²,

Venkatesan³

et al. 2011

Journal of Vascular and Interventional Radiology

130

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Purpose-To demonstrate utility, accuracy, and clinical outcomes of electromagnetic tracking and multi-modality image fusion for guidance of biopsy and radiofrequency (RF) ablation procedures.Materials and Methods-A combination of conventional image guidance (ultrasound/ computed tomography (CT)) and a research navigation system were used in 40 patients undergoing biopsy or RF ablation to assist in target localization and needle/electrode placement. The navigation system displays electromagnetically tracked needles and ultrasound images relative to a pre-procedural CT. Additional images (prior positron emission tomography (PET) or magnetic resonance imaging (MRI)) can be fused with the CT as needed. Needle aiming with and without tracking were compared, the utility of navigation for each procedure was assessed, the system's off-target tracking error for two different registration methods was evaluated, and setup time recorded.Results-The tracking error was evaluable in 35 of 40 patients. A basic tracking error of 3.8 ± 2.3 mm was demonstrated using skin fiducials for registration. The error improved to 2.7 ± 1.6 mm when using prior internal needle positions as additional fiducials. Real-time fusion of ultrasound with CT and registration with prior PET and MRI were successful and provided clinically relevant guidance information, enabling 19 of the 40 procedures.Conclusion-The spatial accuracy of the navigation system is sufficient to display clinicallyrelevant image guidance information during biopsy and RF ablation. Breath holding and respiratory gating are effective in minimizing the error associated with tissue motion. In 48% of cases, the navigation system provided information critical for successful execution of the

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Section: Discussionmentioning

confidence: 53%

Clinical Utility of Real-time Fusion Guidance for Biopsy and Ablation

Krücker¹,

Xu²,

Venkatesan³

et al. 2011

Journal of Vascular and Interventional Radiology

130

View full text Add to dashboard Cite

show abstract

“…Many studies assessing EM tracking systems for CAI can be found in the literature, e.g., [3,6,7,15,19,25,36,39,45,51,59,60,61,66,74,82,83,86,89,102,120,122,152,154,159,165,169,170,172,196,202,206,207]. However, in many cases, the results of these studies are not comparable because different measurement protocols and evaluation methods were used.…”

Section: B Study Resultsmentioning

confidence: 99%

“…Shen et al found increased positional errors up to 27 mm of the NDI Aurora R system near a patient stretcher in a CT suite but they only collected 36 positional measurements [169]. Gergel et al used a tripod-shaped robot to examine 1000 positions inside the tracking volume of the NDI Aurora R system, also on a patient stretcher in a CT suite.…”

Section: B Study Resultsmentioning

confidence: 99%

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Franz

Haidegger

Birkfellner

et al. 2014

IEEE Trans. Med. Imaging

401

273

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Abstract-Object tracking is a key enabling technology in the context of computer-assisted medical interventions. Allowing the continuous localization of medical instruments and patient anatomy, it is a prerequisite for providing instrument guidance to subsurface anatomical structures. The only widely used technique that enables real-time tracking of small objects without lineof-sight restrictions is electromagnetic (EM) tracking. While EM tracking has been the subject of many research efforts, clinical applications have been slow to emerge. The aim of this review paper is therefore to provide insight into the future potential and limitations of EM tracking for medical use. We describe the basic working principles of EM tracking systems, list the main sources of error, and summarize the published studies on tracking accuracy, precision and robustness along with the corresponding validation protocols proposed. State-of-the-art approaches to error compensation are also reviewed in depth. Finally, an overview of the clinical applications addressed with EM tracking is given. Throughout the paper, we report not only on scientific progress, but also provide a review on commercial systems. Given the continuous debate on the applicability of EM tracking in medicine, this paper provides a timely overview of the state-of-the-art in the field.

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“…The results show a range of 5 mm in reported 1D positions, which is equivalent to a 8.7 mm 3D distance error. The performance of EM tracking systems in a metallic environment needs to be characterized [4]. Understanding the nature of the distortion may facilitate on-line compensation strategies [5].…”

Section: Discussionmentioning

confidence: 99%

Multimodality image guidance system integrating X-ray fluoroscopy and ultrasound image streams with electromagnetic tracking

Gutiérrez

Shechter

Stanton

et al. 2007

Medical Imaging 2007: Visualization and Image-Guided Procedures

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This work presents an integrated system for multimodality image guidance of minimally invasive medical procedures. This software and hardware system offers real-time integration and registration of multiple image streams with localization data from navigation systems. All system components communicate over a local area Ethernet network, enabling rapid and flexible deployment configurations. As a representative configuration, we use X-ray fluoroscopy (XF) and ultrasound (US) imaging. The XF imaging system serves as the world coordinate system, with gantry geometry derived from the imaging system, and patient table position tracked with a custom-built measurement device using linear encoders. An electromagnetic (EM) tracking system is registered to the XF space using a custom imaging phantom that is also tracked by the EM system. The RMS fiducial registration error for the EM to X-ray registration was 2.19 mm, and the RMS target registration error measured with an EM-tracked catheter was 8.81 mm. The US image stream is subsequently registered to the XF coordinate system using EM tracking of the probe, following a calibration of the US image within the EM coordinate system. We present qualitative results of the system in operation, demonstrating the integration of live ultrasound imaging spatially registered to X-ray fluoroscopy with catheter localization using electromagnetic tracking.

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Quantification of AC electromagnetic tracking system accuracy in a CT scanner environment

Cited by 8 publications

References 2 publications

Clinical Utility of Real-time Fusion Guidance for Biopsy and Ablation

Clinical Utility of Real-time Fusion Guidance for Biopsy and Ablation

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Multimodality image guidance system integrating X-ray fluoroscopy and ultrasound image streams with electromagnetic tracking

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