Int J Comput Assist Radiol Surg - Hybrid electromagnetic and image-based tracking of endoscopes with guaranteed smooth output.

Tópicos

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Resumo

RPOSE: Flexible fiber-optic bronchoscopy is a widespread medical procedure for the diagnosis and treatment of lung diseases. Navigation systems are needed to track the flexible endoscope within the bronchial tree. Electromagnetic (EM) tracking is currently the only technology used clinically for this purpose. The registration between EM tracking and patient anatomy may become inaccurate due to breathing motion, so the addition of image-based tracking has been proposed as a hybrid EM-image-based system.METHODS: When EM tracking is used as an initialization for image registration, small changes in the initialization may lead to different local minima and noise is amplified by hybrid tracking. The tracking output is modeled as continuous and uses splines for interpolation, thus smoothness is greatly improved. The bronchoscope pose relative to computed tomography data is interpolated using Catmull-Rom splines for position and spherical linear interpolation (SLERP) for orientation.RESULTS: The hybrid method was evaluated using ground truth poses manually selected by experts, where mean inter-expert agreement was determined as 1.26 mm. Using four dynamic phantom data sets, the accuracy was 4.91 mm, which is equivalent to previous methods. Compared to state-of-art methods, inter-frame smoothness was improved from 2.77-3.72 to 1.24 mm.CONCLUSIONS: Hybrid image and electromagnetic endoscope guidance provides a more realistic and physically plausible solution with significantly less jitter. This quantitative result is confirmed by visual comparison of real and virtual video, where the virtual video output is much more consistent and robust, with fewer occasions of tracking loss or unexpected movement compared with previous methods.

Resumo Limpo

rpose flexibl fiberopt bronchoscopi widespread medic procedur diagnosi treatment lung diseas navig system need track flexibl endoscop within bronchial tree electromagnet em track current technolog use clinic purpos registr em track patient anatomi may becom inaccur due breath motion addit imagebas track propos hybrid emimagebas systemmethod em track use initi imag registr small chang initi may lead differ local minima nois amplifi hybrid track track output model continu use spline interpol thus smooth great improv bronchoscop pose relat comput tomographi data interpol use catmullrom spline posit spheric linear interpol slerp orientationresult hybrid method evalu use ground truth pose manual select expert mean interexpert agreement determin mm use four dynam phantom data set accuraci mm equival previous method compar stateofart method interfram smooth improv mmconclus hybrid imag electromagnet endoscop guidanc provid realist physic plausibl solut signific less jitter quantit result confirm visual comparison real virtual video virtual video output much consist robust fewer occas track loss unexpect movement compar previous method

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