Hybrid tracking system for flexible endoscopes

Johann Hummel D.V.M.; Michael Figl; Wolfgang Birkfellner; Christopher Ede; Rudolf Seemann; Helmar Bergmann

doi:10.1117/12.534002

5 May 2004 Hybrid tracking system for flexible endoscopes

Johann Hummel D.V.M., Michael Figl, Wolfgang Birkfellner, Christopher Ede, Rudolf Seemann, Helmar Bergmann

Proceedings Volume 5367, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display; (2004) https://doi.org/10.1117/12.534002
Event: Medical Imaging 2004, 2004, San Diego, California, United States

Abstract

With the miniaturization of electromagnetic tracking systems (EMTS) the range of possible applications in image guided therapy was extending. A diameter smaller than 1 mm allows for mounting these sensors into the working channel of flexible endoscopes for navigation within the body. Knowing the exact position of the instrument with respect to the patient’s position preoperative CT or MR images can simplify and ease navigation during various interventions. The Aurora EMTS seems to be an ideal choice for this purpose. However, using this system exhibits an important limitation: the sensor offers just 5 degrees of freedom (DOF) which means that rotations round the axis of the sensor cannot be measured. To overcome this restriction we used an additional optical tracking system (OTS) which is calibrated to deliver the missing DOF. To evaluate the suitability of our new navigation system we measured the Fiducial Registration Error (FRE) of the diverse registrations and the Target Registration Error (TRE) for the complete transformation from the US space to the CT space. The FRE for the ultrasound calibration amounted to 3.2 mm±2.2 mm, resulting from 10 calibration procedures. For the transformation from the OTS reference system to the EMTS emitter space we found an average FRE of 0.8 mm±0.2 mm. The FRE for the CT registration was 1.0 mm±0.3 mm. The TRE was found to be 5.5 mm± 3.2 mm.

Citation Download Citation

Johann Hummel D.V.M., Michael Figl, Wolfgang Birkfellner, Christopher Ede, Rudolf Seemann, and Helmar Bergmann "Hybrid tracking system for flexible endoscopes", Proc. SPIE 5367, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display, (5 May 2004); https://doi.org/10.1117/12.534002

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available

Members: $17.00

Non-members: $21.00 ADD TO CART

PROCEEDINGS
6 PAGES

DOWNLOAD PAPER SAVE TO MY LIBRARY

GET CITATION

RIGHTS & PERMISSIONS

Get copyright permission Get copyright permission on Copyright Marketplace

KEYWORDS

Sensors

Calibration

Endoscopes

Image registration

Head

Ultrasonography

Computed tomography

Show All Keywords

Keywords/Phrases

Search In:

Publication Years