Three-Dimensional Endovascular Navigation With Electromagnetic Tracking: Ex Vivo and In Vivo Accuracy

Manstad-Hulaas, Frode; Tangen, Geir; Gruionu, Lucian Gheorghe; Aadahl, Petter; Hernes, Toril A. Nagelhus

doi:10.1583/10-3301.1

Cited by 38 publications

(41 citation statements)

References 26 publications

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“…Kral et al [10] reported the median overall accuracy of 0.22mm using an optical and 0.99mm using an electromagnetic tracking system. Meanwhile, typical overall accuracy achieved by most research groups ranges from about 1mm up to 3mm, either using optical [11][12][13][14][15] or electromagnetic [16][17][18] In order to overcome the shortcoming of the conventional tracking system-based setups, we conceived in our previous work [19] a conception of using OCT itself as an optical tracking system and developed an algorithm for locating single artificial landmark in three-dimensional OCT volume. In this paper, we will realize the tracking conception by simultaneously locating multiple landmarks and the tracking workflow will be experimentally evaluated.…”

Section: Optical Coherence Tomography As Highly Accurate Opticalmentioning

confidence: 99%

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Optical coherence tomography as highly accurate optical tracking system

Zhang

Wörn

2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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Optical coherence tomography (OCT) guided laser cochleostomy enables the ablation accuracy on tens of micrometer scale and therefore also requires a high patient tracking accuracy on the same order of magnitude, which however exceeds the ability of the conventional optical or electromagnetic tracking systems. We have developed a novel approach of using OCT itself as a highly accurate optical tracking system by ablating tiny artificial landmarks surrounding the cochleostomy on the target bone surface and locating them in the online acquired 3D OCT Volumes. The mechanism enables a direct tracking of the target area with respect to the laser optics while the conventional systems rely on indirect tracking of the markers or sensors attached to the regions of interest. The new approach has achieved an overall tracking accuracy of 22.8±14.9μm (mean absolute error) and 27.2μm (root mean square), which is one order of magnitude higher than the conventional tracking system-based setups. ). the online measured residual bone thickness and enables the ablation accuracy on tens of micrometer scale.

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Section: Optical Coherence Tomography As Highly Accurate Opticalmentioning

confidence: 99%

“…In the context of computer-assisted surgery (CAS), the optical or electromagnetic tracking systems are considered to be the gold standard for this purpose and have already been widely used in clinical routine since years [9][10][11][12][13][14][15][16][17][18]. Fig.…”

Section: Introductionmentioning

confidence: 99%

Optical coherence tomography as highly accurate optical tracking system

Zhang

Wörn

2014

2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

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“…Seven articles on two EM ENSs were included: two articles reported the StealthStation TREON Plus (Medtronic Inc, Minneapolis, Minn) 23,24 tracking system, and five articles reported the Aurora (Northern Digital, Waterloo, Ontario, Canada) tracking system. 19,21,22,29,33 An EM ENS consists of (1) a magnetic-field generator that generates an ultra-low EM field and must be located near the surgical field, (2) EM position coils integrated at the tip of the manual endovascular device that induce a characteristic in the coil determined by the specific location and distance of the coil in the EM field, (3) a control box that converts the voltage in the EM coil into digital data for the exact 3D position of the coil, and (4) navigation software for image guidance. These four components provide the 3D position and orientation of the EM coils (and thus the endovascular devices) and visualize the location of the coil in a preoperative computed tomography (CT) scan.…”

Section: Resultsmentioning

confidence: 99%

Current state in tracking and robotic navigation systems for application in endovascular aortic aneurysm repair

Ruiter

Moll

Herwaarden

2015

Journal of Vascular Surgery

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This review summarizes the current studies on manual tracking and robotic navigation systems for application in EVAR. The main focus of these systems is improving aortic vessel cannulation, required in complex EVAR, in which the robotic system with the improved steerability is favored over manual tracking systems or conventional cannulation. All reviewed tracking systems still require X-ray for anatomic imaging, stent graft deployment, and device registration. Although the current reviewed endovascular navigation systems have shown their potential in phantom and animal studies, clinical trials are too limited to conclude that these systems can improve EVAR outcomes or that they can systematically reduce FTs, radiation doses, and contrast volumes during (complex) EVAR.

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“…In general, iterative closest point (ICP) algorithm [8] is used to estimate the transformation between the physical space and the image space. A point-based registration was used to estimate the geometrical transformation between the physical space and image space in [4] and [7]. It is reported that the target registration error (TRE) of extrinsic feature based registration usually affected by some factors, such as distribution of the markers and deformation of the skin [9].…”

Section: A Extrinsic Feature Based Methodsmentioning

confidence: 99%

A dynamic point matching for registration in image-guided minimally invasive vascular surgery: A simulation study

Gao

et al. 2013

2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-Registration is a key issue in image-guided minimally invasive vascular surgery (MIVS) when the electromagnetic device is used to tracking the catheter. We assume that the catheter advances in the vessel along the vascular centerline during MIVS. Based on this assumption, we proposed a dynamic point matching approach for registration, of which the transformation is estimated by aligning the point set of catheter's path to that of the vascular centerline. Due to the point set of the path obtained in real time, the point matching is performed dynamically. A matching function is introduced to indicate the correspondence between two point sets. The function is refined to find the optimal correspondence using Relax labeling, which account for local neighborhood structures. The transformation is estimated by minimizing the distance of the optimal corresponding points. A simulation experiment is designed and performed. The results show that the mean±standard deviation of target registration error is 2.72 ±0.03mm.

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Three-Dimensional Endovascular Navigation With Electromagnetic Tracking: Ex Vivo and In Vivo Accuracy

Abstract: This 3D navigation system demonstrates good ex vivo accuracy and is sufficiently accurate in vivo to explore its potential for improved endovascular navigation.

Cited by 38 publications

References 26 publications

Optical coherence tomography as highly accurate optical tracking system

Optical coherence tomography as highly accurate optical tracking system

Current state in tracking and robotic navigation systems for application in endovascular aortic aneurysm repair

A dynamic point matching for registration in image-guided minimally invasive vascular surgery: A simulation study

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