Comput Methods Programs Biomed - Adaptive marker-free registration using a multiple point strategy for real-time and robust endoscope electromagnetic navigation.

Tópicos

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Resumo

Registration of pre-clinical images to physical space is indispensable for computer-assisted endoscopic interventions in operating rooms. Electromagnetically navigated endoscopic interventions are increasingly performed at current diagnoses and treatments. Such interventions use an electromagnetic tracker with a miniature sensor that is usually attached at an endoscope distal tip to real time track endoscope movements in a pre-clinical image space. Spatial alignment between the electromagnetic tracker (or sensor) and pre-clinical images must be performed to navigate the endoscope to target regions. This paper proposes an adaptive marker-free registration method that uses a multiple point selection strategy. This method seeks to address an assumption that the endoscope is operated along the centerline of an intraluminal organ which is easily violated during interventions. We introduce an adaptive strategy that generates multiple points in terms of sensor measurements and endoscope tip center calibration. From these generated points, we adaptively choose the optimal point, which is the closest to its assigned the centerline of the hollow organ, to perform registration. The experimental results demonstrate that our proposed adaptive strategy significantly reduced the target registration error from 5.32 to 2.59 mm in static phantoms validation, as well as from at least 7.58 mm to 4.71 mm in dynamic phantom validation compared to current available methods.

Resumo Limpo

registr preclin imag physic space indispens computerassist endoscop intervent oper room electromagnet navig endoscop intervent increas perform current diagnos treatment intervent use electromagnet tracker miniatur sensor usual attach endoscop distal tip real time track endoscop movement preclin imag space spatial align electromagnet tracker sensor preclin imag must perform navig endoscop target region paper propos adapt markerfre registr method use multipl point select strategi method seek address assumpt endoscop oper along centerlin intralumin organ easili violat intervent introduc adapt strategi generat multipl point term sensor measur endoscop tip center calibr generat point adapt choos optim point closest assign centerlin hollow organ perform registr experiment result demonstr propos adapt strategi signific reduc target registr error mm static phantom valid well least mm mm dynam phantom valid compar current avail method

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