A novel external bronchoscope tracking model beyond electromagnetic localizers: dynamic phantom validation

Xiongbiao Luo; Takayuki Kitasaka; Kensaku Mori

doi:10.1117/12.911115

17 February 2012 A novel external bronchoscope tracking model beyond electromagnetic localizers: dynamic phantom validation

Xiongbiao Luo, Takayuki Kitasaka, Kensaku Mori

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Proceedings Volume 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling; 83163C (2012) https://doi.org/10.1117/12.911115
Event: SPIE Medical Imaging, 2012, San Diego, California, United States

Abstract

Localization of a bronchoscope and estimation of its motion is a core component for constructing a bronchoscopic navigation system that can guide physicians to perform any bronchoscopic interventions such as the transbronchial lung biopsy (TBLB) and the transbronchial needle aspiration (TBNA). To overcome the limitations of current methods, e.g., image registration (IR) and electromagnetic (EM) localizers, this study develops a new external tracking technique on the basis of an optical mouse (OM) sensor and IR augmented by sequential Monte Carlo (SMC) sampling (here called IR-SMC). We first construct an external tracking model by an OM sensor that is uded to directly measure the bronchoscope movement information including the insertion depth and the rotation of the viewing direction of the bronchoscope. To utilize OM sensor measurements, we employed IR with SMC sampling to determine the bronchoscopic camera motion parameters. The proposed method was validated on a dynamic phantom. Experimental results demonstrate that our constructed external tracking prototype is a perspective means to estimate the bronchoscope motion, compared to the start-of-the-art, especially for image-based methods, improving the tracking performance by 17.7% successfully processed video images.

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Xiongbiao Luo, Takayuki Kitasaka, and Kensaku Mori "A novel external bronchoscope tracking model beyond electromagnetic localizers: dynamic phantom validation", Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83163C (17 February 2012); https://doi.org/10.1117/12.911115

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KEYWORDS

Sensors

Motion models

Motion measurement

Motion estimation

Prototyping

Video

Cameras

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