Vascular electromagnetic tracking: experiences in phantom and animal cadaveric models

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

“…8,9 The use of 3D images and EM-tracked devices has been previously tested and applied in a wide range of surgical specialties to offer more anatomical information and make navigation easier, safer, and more accurate. 10–18 Furthermore, some ex vivo studies, animal experiments, and a case report 8,9,19–21 have demonstrated the use of 3D images and electromagnetic tracking in endovascular interventions.…”

Algorithm for calibration of the electromagnetic tracking system

“…In this approach we calibrated our tracking system using 175 positions on the border of the ROI and voltage measurements for each coil resulting in 175 equations. The estimation of the positions were done by means of the equations (10)(11)(12)(13)(14)(15)(16)(17)(18), which are used for the calculation of the magnetic flux density B (10), the magnetic momentum of the emitting coils m (11-l3), the approximated volltage on the sensing coil Va pp (17) and the unit vector defining the magnetic axis of the sensing coil n (14)(15)(16). The position and the orientation of the emitting coil results from minimizinng the equation (18).…”

“…EMTS have also shown their benefit in laparoscopic ultrasonography, needle aspiration biopsy, ultrasound freehand tracking, interstitial brachytherapy, ultrasound bone registration and it has also been introduced for endoscopic and bronchoscopic procedures [3, 4, 5, 6, 7, 8 and 9]. New studies focus on the feasibility of EMTS application in vascular interventions [10,11].…”

Electromagnetic Tracking System for Neurovascular Interventions

“…The EMTS enables tracking without these restrictions being also applicable for catheter based interventions [14]. However, due to the fact that the size of the sensors was too large for integration into the tip of the catheter, up to now intravascular application were restricted to large vessel interventions [10], [11], examples are tightly controlled cardiac mapping or pulmonary applications. Recently, micro sensors become available, enabling an integration of the coil to micro-catheters.…”